Portable unmanned aerial vehicle overhauling integrated device for top lining in tunnel construction and maintenance period

Abstract

The utility model relates to a portable tunnel construction period top lining unmanned aerial vehicle maintenance integrated device which comprises an unmanned aerial vehicle, the unmanned aerial vehicle is provided with an infrared laser ranging module and a detection module, the top of the unmanned aerial vehicle is provided with a liftable rotating platform capable of rotating by 360 degrees, and the rotating platform is detachably provided with a marking device. A repairing device for replacing the marking device is configured; and an extendable camera is further arranged on one side of the unmanned aerial vehicle body. The device is helpful for replacing manual work to execute a detection task on a difficult-to-detect position at the top of a tunnel, and meanwhile, a relatively small disease area is simply repaired.

Description

Technical Field

[0001] The utility model relates to a portable integrated unmanned aerial vehicle (UAV) inspection and maintenance device for top lining of a tunnel during its construction and maintenance period. Background Art

[0002] During the implementation of tunnel engineering, the tunnel top is often a difficult point for engineering inspection due to its high height. The complex geological structure, environment and other factors in the tunnel will also affect this work.

[0003] Existing tunnel inspections typically use aerial work platforms or simple brackets welded onto construction machinery. Inspectors stand within an operating frame, holding a radar antenna and pressing it against the lining surface to complete the inspection. This approach often carries significant risks when inspecting tunnel tops and complex environments, and can easily lead to safety accidents. Inspectors use aerial work platforms for high-altitude inspections. Frequent changes in inspection position and prolonged periods of holding their hands can lead to fatigue, which can cause fluctuations or errors in the adhesion between the antenna and the lining surface. Consequently, manual high-altitude inspections are inefficient and subject to high errors, negatively impacting inspection results.

[0004] Currently, most of the tunnel drones commonly used on the market adopt electric tracks. This type of drone can solve the detection problem to a certain extent. At the same time, this type of drone requires laying a large number of mobile tracks, which is costly, has a relatively fixed route, and is suitable for a short construction period. It can only perform one of the detection or repair tasks, and there are few products that can directly mark the diseased areas. Utility Model Content

[0005] The purpose of the utility model is to provide a portable integrated drone inspection and maintenance device for the top lining of a tunnel during construction and maintenance, which helps to replace manual inspection tasks at difficult-to-inspect areas on the top of the tunnel and perform simple repairs on smaller diseased areas.

[0006] The technical solution of the utility model is: a portable integrated drone inspection and maintenance device for the top lining of a tunnel during the construction and maintenance period, comprising a drone, on which an infrared laser ranging module and a detection module are provided, the top of the drone is equipped with a rotating platform that can be raised and lowered and rotated 360 degrees, the rotating platform is detachably mounted with a marking device, and is equipped with a repair device for replacing the marking device; a protruding camera is also provided on one side of the drone body.

[0007] Furthermore, the body of the drone is circular, with four rotors evenly distributed around the body of the drone. A pair of brackets are provided on the lower side of the body of the drone, and a light-emitting device is provided on one side of the camera.

[0008] Furthermore, the infrared laser ranging module includes infrared rangefinders arranged at the front, rear, left, right and top positions of the UAV body.

[0009] Furthermore, an airbag is provided on the body of the UAV, a mounting seat is provided on the upper side of the airbag, the rotating platform is installed on the mounting seat, and a movable slide for lifting and guiding is provided between the rotating platform and the mounting seat.

[0010] Furthermore, the detection module includes first pressure sensors arranged at intervals along the circumferential direction on the upper end surface of the mounting seat, and detection probes are provided at the upper ends of the first pressure sensors.

[0011] Furthermore, the marking device includes an annular seat, the upper end surface of the annular seat is provided with an annular sponge, the lower end surface of the annular seat is provided with first buckles at intervals along the circumferential direction, and the top surface of the rotating platform is provided with slots that cooperate with the first buckles at intervals along the circumferential direction.

[0012] Furthermore, the repair device includes a disc, the upper end surface of the disc is equipped with a brush, a second pressure sensor is arranged on the periphery of the brush, and the lower end surface of the disc is provided with second buckles that cooperate with the slots on the upper end surface of the rotating platform at intervals along the circumferential direction.

[0013] Furthermore, infusion ports are arranged at intervals along the circumferential direction on the upper end of the rotating platform.

[0014] Furthermore, the drone is provided with an integrated information receiving and transmitting device and is equipped with multiple signaling devices.

[0015] Furthermore, the sending device includes a base, a charging platform that can be pulled forward is provided on the base, a telescopic rod is provided on the base, an information relay is detachably installed on the upper part of the telescopic rod, and a solar charging panel is detachably installed on the top of the telescopic rod.

[0016] Compared with the prior art, the utility model has the following advantages:

[0017] 1. This device leverages the advantages of drones, such as good maneuverability, ease of use, and the ability to be operated independently of human operators. It can be operated remotely throughout the entire process, replacing manual inspection tasks at difficult-to-inspect locations at the top of the tunnel. This overcomes the disadvantage of manual inspections that require hand-held radar antennas, ensures the safety of inspectors, and avoids the problem of reduced detection accuracy due to operator fatigue.

[0018] 2. The drone is small and flexible, moves quickly, and can greatly improve the inspection efficiency, thereby ensuring that the inspection can be completed quickly with minimal impact on the construction progress.

[0019] 3. The device can perform simple repairs on smaller diseased areas, reduce the use of large machinery such as aerial work vehicles, reduce the manpower and material resources consumed in detection, save costs, and greatly reduce manpower and time costs.

[0020] 4. The device has fewer components and is easy to carry, install and use, greatly saving the installation cost of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of the utility model;

[0022] Figure 2 This is a schematic structural diagram of the marking device of the present invention;

[0023] Figure 3 This is a schematic diagram of the repair device of the present utility model;

[0024] Figure 4 This is a structural diagram of the camera of the present utility model;

[0025] Figure 5 This is a schematic diagram of the visualization system of the present utility model;

[0026] Figure 6 This is a schematic diagram of the signal sending device of the present utility model;

[0027] In the figure: 10-UAV; 11-rotor; 12-bracket; 13-infrared rangefinder; 14-camera; 15-light-emitting device; 16-airbag; 17-mounting seat; 18-first pressure sensor; 19-detection probe; 20-rotating platform; 21-moving slide; 22-annular sponge; 23-brush; 24-cage; 25-annular seat; 251-first buckle; 26-disc; 261-second buckle; 28-second pressure sensor; 29-infusion port; 30-integrated information receiving and transmitting device; 40-transmitting device; 41-base; 42-charging platform; 43-telescopic rod; 44-information transfer device; 45-solar charging panel; 50-display screen; 51-UAV parameters; 52-detection point parameters; 53-detection image; 54-real-time video photos. DETAILED DESCRIPTION

[0028] To make the above features and advantages of the present invention more clearly understood, embodiments are given below with reference to the accompanying drawings for detailed description, but the present invention is not limited thereto.

[0029] refer to Figures 1 to 6

[0030] The utility model provides a portable tunnel construction and maintenance period top lining unmanned plane overhaul integration device, including unmanned plane 10, be provided with detection module and infrared laser ranging module for real time detection unmanned plane and tunnel wall or obstacle distance on the unmanned plane, the top of unmanned plane is equipped with the rotatable platform 20 who can lift and 360 DEG, rotatable platform detachable installation has the marking device, and is equipped with the repair device for replacing marking device, the side of the unmanned plane's organism still is provided with the camera 14 who can stretch out to the outside, is located the side of camera still is provided with the light emitting device 15.

[0031] In the embodiment, the unmanned plane body is circular, and four rotors 11 are uniformly distributed around the unmanned plane body, the rotors are provided with plastic protective covers, a pair of supports 12 are arranged on the lower side of the unmanned plane body, and a battery is installed on the unmanned plane.

[0032] In the embodiment, the infrared laser ranging module includes infrared range finders 13 arranged on the front, rear, left, right and upper sides of the unmanned plane body, and can give real-time warning according to the detection distance; when the unmanned plane is in the automatic cruising mode, the flight posture can be adjusted in time to prevent the unmanned plane from being damaged by collision.

[0033] In the embodiment, air bags 16 are arranged on the unmanned plane body at the middle regions of the upper and lower parts, the air bags buffer the pressure generated by the hole top during detection of the unmanned plane, and the upper part is formed into an inclined surface with a certain angle through deformation of the air cushion, so that the pressure borne by the detection probe is consistent, thereby ensuring the accuracy of the detection result.

[0034] In the embodiment, mounting seats 17 are arranged on the upper sides of the air bags, the rotatable platform is mounted on the mounting seats, and movable slides 21 for lifting and guiding are arranged between the rotatable platform and the mounting seats, the rotatable platform is threadedly connected with the output shaft of a small electric cylinder or a small motor arranged in the unmanned plane body, and small-amplitude lifting of the rotatable platform along the movable slides is realized.

[0035] In the embodiment, the detection module includes first pressure sensors 18 arranged on the upper end faces of the mounting seats in the circumferential direction, detection probes 19 are arranged on the upper ends of the first pressure sensors, and the detection probes are located on the four quadrant points of the unmanned plane.

[0036] In the embodiment, the marking device comprises a ring-shaped seat 25, the upper end surface of the ring-shaped seat is provided with a ring-shaped sponge 22, and the lower end surface of the ring-shaped seat is provided with first buckles 251 which are spaced apart in the circumferential direction, the top surface of the rotating platform is provided with clamping grooves 24 which are spaced apart in the circumferential direction and are matched with the first buckles, and the ring-shaped sponge is conveniently disassembled through the matched clamping grooves and buckles. The disease position is marked by loading the marking liquid on the unmanned aerial vehicle, and the marking device is suitable for the construction period and the maintenance period.

[0037] In the embodiment, the repairing device comprises a disc 26, the upper end surface of the disc is provided with a brush 23, the outer periphery of the brush is provided with a second pressure sensor 28 so as to detect the pressure between the brush and the tunnel, and the lower end surface of the disc is provided with second buckles 261 which are spaced apart in the circumferential direction and are matched with the clamping grooves on the upper end surface of the rotating platform, and the brush is conveniently disassembled through the matched clamping grooves and buckles. The small cracks can be simply repaired by loading the repairing liquid on the unmanned aerial vehicle, and the repairing device is suitable for the maintenance period. The ring-shaped sponge and the brush can be replaced according to the requirement.

[0038] In the embodiment, in order to input the marking liquid or the repairing liquid into the corresponding ring-shaped sponge or brush, the upper end surface of the rotating platform is provided with liquid inlet ports 29 which are spaced apart in the circumferential direction and are matched with the ring-shaped sponge or the brush. The marking liquid container or the repairing liquid container which is connected with the liquid inlet ports through a small pump can be loaded on the unmanned aerial vehicle.

[0039] In the embodiment, the unmanned aerial vehicle is provided with an integrated information receiving and transmitting device 30, and a plurality of signaling devices 30 which are arranged in the tunnel are configured. The main functions of the integrated information receiving and transmitting device are as follows: detecting the flight speed and the flight inclination angle of the unmanned aerial vehicle; storing and displaying the data of the unmanned aerial vehicle; and displaying the battery capacity.

[0040] The integrated information receiving and transmitting device transmits the parameters of the unmanned aerial vehicle and the parameter information of the detection points to the ground work station through a plurality of signaling devices which are arranged in the tunnel, realizes the information transmission in the tunnel, and finally transmits the information to the ground work station for processing. After the ground work station obtains the information, the data is processed, it is identified whether the disease occurs at the detection point, and the disease information is transmitted to the unmanned aerial vehicle. When the transmission signal is not good, the integrated information receiving and transmitting device will store the detection data, and then send and prompt when the signal is good.

[0041] In this embodiment, in order to provide the landing point for the unmanned aerial vehicle and supplement the power for the unmanned aerial vehicle, the signaling device comprises a base 41, the base is provided with a forwardly pullable charging platform 42 and is configured with a battery, the base is provided with a telescopic rod 43, the upper part of the telescopic rod is detachably provided with an information relay 44, and the top of the telescopic rod is detachably provided with a solar charging plate 45, and the solar charging is a prior art. The information relay can relay and transmit information from the unmanned aerial vehicle or the ground station to the other side, and at the same time, the position information of the signaling device is transmitted to the unmanned aerial vehicle; the charging platform can provide the landing point for the unmanned aerial vehicle and supplement the power for the unmanned aerial vehicle, and when the charging platform is not used, the solar charging plate can be used to supplement the power consumed by the charging platform. In addition, the position of the detection point for the unmanned aerial vehicle in the automatic cruising mode can be positioned.

[0042] When the signaling device is not used, the solar charging plate and the information relay can be disassembled, at the same time, the charging platform is inwardly collected into the base, the telescopic rod is downwardly collected, a special portable protective cover of the equipment is covered, and after the base is locked, the signaling device can be stored.

[0043] In this embodiment, the device can further comprise a visualization system, and the visualization system comprises a display screen 50 for displaying unmanned aerial vehicle parameters 51, detection point parameters 52, detection image 53 and real-time video photos 54. The data transmitted from the unmanned aerial vehicle to the ground station comprises the position, height, speed, detection data and the like of the unmanned aerial vehicle, which are displayed in the display screen of the ground station after processing, and are helpful to improve the information receiving efficiency of the operator.

[0044] The unmanned aerial vehicle parameter block mainly displays the flight mode of the unmanned aerial vehicle, the vertical distance between the unmanned aerial vehicle and the top of the hole, the horizontal distance between the unmanned aerial vehicle and the obstacle, the pressure on the top of the unmanned aerial vehicle, the real-time coordinates of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle in the flight process, the inclination angle of the unmanned aerial vehicle in the flight process; the detection point parameter block displays the coordinates of the detection point, the height of the detection point, the mortar thickness of the detection point, and whether the detection point has disease; the detection image block displays the disease sound wave image of the detection point position in the screen; and the real-time video photo displays the real-time video photo in the camera in the screen.

[0045] In this embodiment, the infrared range finders located in front, back, left, right and upper positions of the unmanned aerial vehicle will measure the distance between the unmanned aerial vehicle and the obstacle or the top of the tunnel in the flight process of the unmanned aerial vehicle; when the unmanned aerial vehicle and the obstacle reach a certain distance, the unmanned aerial vehicle will give a prompt, the prompt is that the visualization module will light up and give an alarm sound, and at the same time, the distance data of the position closest to the obstacle position will be highlighted, so as to ensure the safety of the unmanned aerial vehicle in the flight process.

[0046] If the drone's battery is low during flight or an emergency occurs and the mission needs to be stopped, the drone can be landed on the charging platform installed with the transmitter. The platform can provide a level landing place for the drone and recharge the drone through the bracket.

[0047] Disease detection:

[0048] After the drone reaches the designated location, it is controlled to move upward so that the detection probe contacts the tunnel ceiling. At this point, the first pressure sensor begins operating, and pressure information is transmitted to the ground workstation via the integrated information receiving and transmitting device and the transmitting device, where it is displayed on the visualization system's display screen. The airbag contracts in response to compression, allowing the upper half of the drone to tilt independently of the lower half, allowing the detection probe to fit more closely and buffering the pressure on the drone. The camera extends and takes real-time images of the tunnel ceiling. During the inspection process, the drone enters a hovering state, and the integrated information receiving and transmitting device sends disease information to the ground workstation via the transmitting device, displaying the captured image on the visualization system's display screen. The light-emitting device can also be activated in dim conditions. The ground workstation analyzes the disease status of the measured point. If a disease is detected at the measured point, the rotating platform is raised using a movable slide, causing the annular sponge to press against the tunnel ceiling. Under the action of pressure, the fluorescent marker liquid stored in the annular sponge is squeezed out and adsorbed on the tunnel ceiling, forming a colored and fluorescent marking circle, which can be efficiently found during repair work.

[0049] Perform simple repair tasks:

[0050] The annular sponge is replaced with a brush, and the specific location of the disease is determined by a camera; when the drone reaches the diseased location, the drone moves upward until it is close to the cave top, and then the rotating platform is raised through the moving slide. The second pressure sensor transmits the pressure information through the integrated information receiving and transmitting device and the sending device to the ground workstation through the circuit in the second buckle, and displays it on the display screen of the visualization system; when the pressure reaches the specified pressure coefficient, the rotating platform is started and starts to rotate along the circumference direction. At this time, the drone is controlled to move, thereby increasing the repair range.

[0051] If the words "first" and "second" are used in the above-mentioned text of the utility model to limit components, those skilled in the art should know that the use of "first" and "second" is only for the convenience of description to distinguish the components. Unless otherwise stated, the above words have no special meaning.

[0052] If the present invention discloses or involves components or structural parts that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, connection using bolts or screws), and can also be understood as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutual fixed connection can also be replaced by an integrated structure (for example, manufactured by integral molding using a casting process) (except where it is obviously not possible to use an integrated molding process).

[0053] In addition, unless otherwise stated, the terms used in any technical solution disclosed in the above-mentioned utility model to express positional relationships or shapes include states or shapes that are approximate, similar or close thereto.

[0054] Any component provided by the present invention can be assembled from multiple separate components, or can be a separate component manufactured by an integral forming process.

[0055] The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A portable integrated drone inspection and maintenance device for top lining of tunnel during construction and maintenance period, comprising a drone, characterized in that: The drone is equipped with an infrared laser ranging module and a detection module. The top of the drone is equipped with a rotating platform that can be raised and lowered and rotated 360 degrees. A marking device is detachably installed on the rotating platform, and a repair device for replacing the marking device is also provided. An extendable camera is also provided on one side of the drone's body.

2. The portable integrated drone inspection and maintenance device for top lining of tunnel during construction and maintenance period according to claim 1 is characterized in that: The body of the drone is circular, and four rotors are evenly distributed around the body of the drone. A pair of brackets are provided on the lower side of the body of the drone, and a light-emitting device is provided on one side of the camera.

3. The portable integrated drone inspection and maintenance device for top lining of tunnel during construction and maintenance period according to claim 1 is characterized in that: The infrared laser ranging module includes infrared rangefinders arranged at the front, rear, left, right and top positions of the UAV body.

4. The portable integrated drone inspection and maintenance device for top lining of a tunnel during construction and maintenance period according to claim 1, 2 or 3 is characterized in that: An airbag is provided on the body of the UAV, a mounting seat is provided on the upper side of the airbag, the rotating platform is installed on the mounting seat, and a movable slide for lifting and guiding is provided between the rotating platform and the mounting seat.

5. The portable integrated drone inspection and maintenance device for top lining of tunnel during construction and maintenance period according to claim 4 is characterized in that: The detection module includes first pressure sensors arranged at intervals on the upper end surface of the mounting seat along the circumferential direction, and detection probes are arranged on the upper ends of the first pressure sensors.

6. The portable integrated drone inspection and maintenance device for top lining of a tunnel during construction and maintenance period according to claim 1, 2, 3 or 5, characterized in that: The marking device includes an annular seat, the upper end surface of the annular seat is provided with an annular sponge, the lower end surface of the annular seat is provided with first buckles at intervals along the circumferential direction, and the top surface of the rotating platform is provided with slots that match the first buckles at intervals along the circumferential direction.

7. The portable integrated drone inspection and maintenance device for top lining of a tunnel during construction and maintenance period according to claim 1, 2, 3 or 5, characterized in that: The repair device includes a disc, the upper end surface of the disc is equipped with a brush, a second pressure sensor is arranged on the periphery of the brush, and the lower end surface of the disc is provided with second buckles that match the slots on the upper end surface of the rotating platform at intervals along the circumferential direction.

8. The portable integrated drone inspection and maintenance device for top lining of a tunnel during construction and maintenance period according to claim 1 is characterized in that: Infusion ports are arranged at intervals along the circumferential direction on the upper end of the rotating platform.

9. The portable integrated drone inspection and maintenance device for top lining of tunnel during construction and maintenance period according to claim 1 is characterized in that: The drone is provided with an integrated information receiving and transmitting device and is equipped with a plurality of signal transmitting devices.

10. The portable integrated drone inspection and maintenance device for top lining of a tunnel during construction and maintenance period according to claim 9 is characterized in that: The sending device includes a base, a charging platform that can be pulled forward is provided on the base, a telescopic rod is provided on the base, an information relay is detachably installed on the upper part of the telescopic rod, and a solar charging panel is detachably installed on the top of the telescopic rod.

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