Load unmanned aerial vehicle suitable for tunnel or underground engineering

Abstract

The utility model relates to the technical field of tunnel or underground engineering investigation, in particular to a load unmanned aerial vehicle suitable for tunnel or underground engineering. According to the technical scheme, the device comprises a machine body and an additional part detachably installed on the machine body, and further comprises a connecting module, the additional part is fixedly connected with the machine body through the connecting module, the connecting module comprises a moment balance mechanism, and the moment balance mechanism levels vertical tension applied to the two sides of the machine body by the additional part with the gravity center deviating from the machine body. The torque balance mechanism can reduce or eliminate the influence of additional parts on the gravity center of the unmanned aerial vehicle, so that the gravity center position of the unmanned aerial vehicle can be effectively ensured to be within the operable range of the unmanned aerial vehicle, the load capacity of the unmanned aerial vehicle can be improved, and the flight stability and controllability can be kept.

Description

TECHNICAL FIELD

[0001] The utility model relates to tunnel or underground engineering survey technical field especially suitable for tunnel or underground engineering's load unmanned plane. BACKGROUND

[0002] In the tunnel and underground engineering industry, the unmanned plane is mainly used to complete survey, inspection and other tasks. Due to the special nature of the underground space, the unmanned plane needs to face the challenges of insufficient light, narrow space, curved channel and various obstacles. The traditional tunnel inspection operation usually needs to interrupt traffic and set up a scaffold, and the unmanned plane can replace these operations, enter the difficult-to-reach place for detection, improve the inspection accuracy and reduce the safety risk.

[0003] The installation of workpieces on the unmanned plane is a common customized requirement, mainly used for various professional applications such as surveying, monitoring, search and rescue, etc. The addition of workpieces will change the center of gravity position of the unmanned plane. It is necessary to ensure that the new center of gravity position is still within the operating range of the unmanned plane to maintain the stability and controllability of flight. It may be necessary to reconfigure the weight of the unmanned plane or adjust the position of other components to restore balance. UTILITY MODEL CONTENT

[0004] The utility model aims at the problems in the background art and provides an unmanned plane which is convenient for reconfiguring the weight of the unmanned plane to restore balance.

[0005] The technical scheme of the utility model: a load unmanned plane suitable for tunnel or underground engineering, comprising a machine body and an add-on piece detachably installed on the machine body, further comprising:

[0006] A connecting module is used to fixedly connect the add-on piece and the machine body, and the connecting module comprises a moment balance mechanism, which adjusts the vertical tension applied by the add-on piece with the offset center of gravity to the two sides of the machine body.

[0007] Optionally, the connecting module comprises a first connecting plate detachably installed on the middle part of the machine body and a second connecting plate detachably installed on the two sides of the machine body, a support rod is rotatably installed on the first connecting plate, and the moment balance mechanism is installed between the second connecting plate and the support rod.

[0008] Optionally, the moment balance mechanism comprises a sliding cylinder rotatably installed on the second connecting plate, a pull rod is slidably installed in the sliding cylinder, a sealing structure is formed between the pull rod and the sliding cylinder, sliding grooves are arranged on the two sides of the support rod, a connecting seat is slidably installed in the sliding grooves, and the support rod and the connecting seat are in one-to-one correspondence and rotatably connected.

[0009] Optionally, the sealing structure comprises a sealing block fixedly installed on the pull rod, and a sealing ring is fixedly installed on the sealing block.

[0010] Optionally, the torque balance mechanism further comprises a positioning assembly, which controls whether the pull rod can be relatively displaced with the sliding cylinder.

[0011] Optionally, the positioning assembly comprises an oil pipe fixedly installed on the sliding cylinder, the oil pipe being in communication with both ends of the sliding cylinder, the sliding cylinder and the oil pipe being filled with hydraulic medium, and the oil pipe being fixedly installed with a valve.

[0012] Optionally, the bottom end of the support rod is fixedly installed with a connecting disc, and the add-on part is detachably connected with the connecting disc.

[0013] In summary, the present application has at least the following beneficial technical effects:

[0014] The torque balance mechanism can reduce or eliminate the influence of the add-on part on the center of gravity of the unmanned aerial vehicle, thereby effectively ensuring that the center of gravity of the unmanned aerial vehicle is within the operable range of the unmanned aerial vehicle, improving the load capacity of the unmanned aerial vehicle, and maintaining the stability and controllability of flight. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a structural schematic view of the unmanned aerial vehicle;

[0016] Figure 2 is a position schematic view of the connecting module;

[0017] Figure 3 is a structural schematic view of the connecting module;

[0018] Figure 4 is a structural schematic view of the torque balance mechanism;

[0019] Figure 5 is Figure 4 is a local enlarged view of position A in FIG. 4.

[0020] Reference signs: 1, body; 2, connecting module; 201, first connecting plate; 202, second connecting plate; 203, support rod; 204, torque balance mechanism; 2041, sliding cylinder; 2042, pull rod; 2043, sealing block; 2044, sealing ring; 2045, oil pipe; 2046, valve; 205, connecting disc; 206, add-on part; 207, sliding groove; 208, connecting seat. DETAILED DESCRIPTION

[0021] The technical scheme of the present application will be further described below in combination with the drawings and specific embodiments.

[0022] For example, Figures 1 to 3As shown, the unmanned aerial vehicle provided by the utility model, including body 1 and detachable installation on body 1 on the additional part 206, the installation of additional part 206 will change the gravity center of unmanned aerial vehicle, further including connecting module 2, additional part 206 is fixedly connected with body 1 through connecting module 2, connecting module 2 includes moment balance mechanism 204, and moment balance mechanism 204 will the vertical tension of the additional part 206 that gravity center is offset with body 1 to the both sides of body 1 be adjusted to level.By moment balance mechanism 204, the influence of additional part 206 on the gravity center of unmanned aerial vehicle can be reduced or eliminated, and then the gravity center position of unmanned aerial vehicle can be effectively guaranteed to be within the operable range of unmanned aerial vehicle, the load capacity of unmanned aerial vehicle can be improved, and the stability and controllability of flight can be maintained.

[0023] Further, connecting module 2 includes first connecting plate 201 detachably installed in the middle of body 1, second connecting plate 202 detachably installed on both sides of body 1, support rod 203 is rotatably installed on first connecting plate 201, and moment balance mechanism 204 is installed between second connecting plate 202 and support rod 203. By exerting tension on both sides of support rod 203 through moment balance mechanism 204, support rod 203 can be fixed, since the directions of tension on both sides are inclined, and the angles of tension on both sides are different;

[0024] The direction of the exerted force can be changed by adjusting the angle of moment balance mechanism 204. The force generated by moment balance mechanism 204 can be decomposed into a component perpendicular to body 1 and a component along the surface of body 1. The vertical component can help support the weight of the weight, and the component along the surface of body 1 generates a moment.

[0025] The effect of the force arm: the angle and length of moment balance mechanism 204 determine the size of the force arm. The larger the force arm, the greater the moment generated. By adjusting the length and angle of moment balance mechanism 204, the size of the force arm can be changed, thereby adjusting the size of the moment.

[0026] Mutual cancellation of moments: when the moments generated by the moment balance mechanisms 204 on both sides are equal in size but opposite in direction, they will cancel each other out. This means that the clockwise moment generated by one tension rod will be balanced by the counterclockwise moment generated by the other tension rod.

[0027] Adjust to the balanced state: by continuously adjusting the angle and length of moment balance mechanism 204, a point can be found at which the moments generated by the moment balance mechanisms 204 on both sides are equal in size and opposite in direction, thereby balancing the forces on both sides of body 1 and keeping body 1 in a horizontal state.

[0028] Wherein, the bottom end of support rod 203 is fixedly installed with connecting disc 205, and additional part 206 is detachably connected with connecting disc 205.

[0029] AsFigures 2 to 5 As shown, the moment balance mechanism 204 comprises a sliding cylinder 2041 rotatably mounted on the second connecting plate 202, a pull rod 2042 slidably mounted in the sliding cylinder 2041, a sealing structure formed between the pull rod 2042 and the sliding cylinder 2041, a sliding groove 207 provided on both sides of the support rod 203, a connecting seat 208 slidably mounted in the sliding groove 207, and the support rod 203 and the connecting seat 208 being in one-to-one correspondence and rotatably connected. By sliding the pull rod 2042 along the sliding cylinder 2041, the total length between the pull rod 2042 and the sliding cylinder 2041 can be adjusted, and the angle between the pull rod 2042 and the sliding cylinder 2041 can be changed, that is, the angle and length of the moment balance mechanism 204 can be changed, and then the total length between the pull rod 2042 and the sliding cylinder 2041 can be used to balance the stress on both sides of the machine body 1.

[0030] Further, the sealing structure comprises a sealing block 2043 fixedly mounted on the pull rod 2042, and a sealing ring 2044 fixedly mounted on the sealing block 2043. By elastic deformation of the sealing ring 2044, the small gap between the sealing block 2043 and the sliding cylinder 2041 can be filled, thereby achieving a sealing effect.

[0031] Still further, the moment balance mechanism 204 further comprises a positioning assembly for controlling whether the pull rod 2042 can relatively displace with the sliding cylinder 2041. When the pull rod 2042 cannot relatively displace with the sliding cylinder 2041, the total length between the pull rod 2042 and the sliding cylinder 2041 cannot be changed, and the angle cannot be changed, and then the positioning assembly can be used to fix the total length and the angle between the pull rod 2042 and the sliding cylinder 2041.

[0032] The positioning assembly comprises an oil pipe 2045 fixedly mounted on the sliding cylinder 2041, the oil pipe 2045 being in communication with both ends of the sliding cylinder 2041, the sliding cylinder 2041 and the oil pipe 2045 being filled with hydraulic medium, and a valve 2046 fixedly mounted on the oil pipe 2045. When the valve 2046 is opened, the hydraulic medium squeezed by the sealing block 2043 will flow to the other side of the sliding cylinder 2041 through the oil pipe 2045 when the pull rod 2042 is slid, thereby allowing the pull rod 2042 to move. The hydraulic medium is a liquid that cannot be compressed in a working environment. When the valve 2046 is closed, the pull rod 2042 cannot move, thereby fixing the pull rod 2042.

[0033] In this embodiment, the UAV utilizes multiple sensors for autonomous navigation. These sensors include LiDAR, IMU, and visual sensors. LiDAR measures the distance to the surrounding environment by emitting laser pulses and receiving reflected signals, constructing a three-dimensional spatial map. IMU monitors the acceleration and angular velocity of the UAV, updating position information in real time. Visual sensors assist in positioning under light conditions through image recognition technology. These sensor data are processed through complex algorithms, forming a closed-loop feedback system, achieving stable and accurate autonomous navigation.

[0034] In complex arc-shaped (such as tunnel) degradation scenarios, the UAV uses monocular camera, LiDAR and IMU SLAM (Simultaneous Localization and Mapping) technology. This technology achieves high-precision positioning and mapping through multi-sensor fusion, overcoming problems such as light changes and single features. Monocular cameras are used to capture environmental images, extract feature points, and track their position changes in different frames. LiDAR provides high-precision point cloud data for constructing three-dimensional maps and achieving precise positioning. IMU data is used to predict the motion state of the UAV and correct it when laser radar and monocular camera data are updated.

[0035] Working principle: by sliding the pull rod 2042 along the slide cylinder 2041, the total length between the pull rod 2042 and the slide cylinder 2041 can be adjusted, and the angle of the pull rod 2042 and the slide cylinder 2041 can be changed, i.e. the angle and length of the moment balance mechanism 204 can be changed;

[0036] The angle and length of the moment balance mechanism 204 determine the size of the force arm. The larger the force arm, the greater the moment generated. By adjusting the length and angle of the moment balance mechanism 204, the size of the force arm can be changed, thereby adjusting the size of the moment.

[0037] Moment cancellation: when the moments generated by the two sides of the moment balance mechanism 204 are equal in size but opposite in direction, they will cancel each other out. This means that the clockwise moment generated by one side of the pull rod will be balanced by the counterclockwise moment generated by the other side of the pull rod.

[0038] By continuously adjusting the angle and length of the moment balance mechanism 204, a point can be found at which the moments generated by the two sides of the moment balance mechanism 204 are equal in size and opposite in direction, thereby balancing the forces on both sides of the body 1 and keeping the body 1 in a horizontal state.

[0039] The above specific embodiments are only a few optional embodiments of the present application. Based on the technical solutions of the present application and the related inspirations of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A load drone suitable for use in a tunnel or underground works, comprising a body (1) and an add-on (206) removably mounted to the body (1), characterized in that, Also include: The connecting module (2) is fixedly connected with the body (1) through the connecting module (2), and the connecting module (2) comprises a torque balance mechanism (204), the torque balance mechanism (204) adjusts the vertical pulling force exerted on both sides of the body (1) by the add-on (206) with the gravity center offset from the body (1).

2. A load-carrying drone suitable for use in a tunnel or underground works according to claim 1, wherein, The connecting module (2) comprises a first connecting plate (201) detachably mounted in the middle of the body (1), and a second connecting plate (202) detachably mounted on both sides of the body (1), the first connecting plate (201) is rotatably mounted with a support rod (203), and the torque balance mechanism (204) is mounted between the second connecting plate (202) and the support rod (203).

3. A load-carrying drone suitable for use in a tunnel or underground works according to claim 2, wherein, The torque balance mechanism (204) comprises a sliding cylinder (2041) rotatably mounted on the second connecting plate (202), a pull rod (2042) is slidably mounted in the sliding cylinder (2041), a sealing structure is formed between the pull rod (2042) and the sliding cylinder (2041), both sides of the support rod (203) are provided with a sliding groove (207), a connecting seat (208) is slidably mounted in the sliding groove (207), and the support rod (203) and the connecting seat (208) are one-to-one corresponding and rotatably connected.

4. A load-carrying drone suitable for use in a tunnel or underground works according to claim 3, wherein, The sealing structure comprises a sealing block (2043) fixedly installed on the pull rod (2042), and a sealing ring (2044) is fixedly installed on the sealing block (2043).

5. A load-carrying drone suitable for use in a tunnel or underground works according to claim 4, wherein, The torque balance mechanism (204) further comprises a positioning assembly, and the positioning assembly controls whether the pull rod (2042) can relatively displace with the sliding cylinder (2041).

6. A load-carrying drone suitable for use in a tunnel or underground works according to claim 5, wherein, The positioning assembly comprises an oil pipe (2045) fixedly installed on the sliding cylinder (2041), the oil pipe (2045) is in communication with both ends of the sliding cylinder (2041), the sliding cylinder (2041) and the oil pipe (2045) are both filled with hydraulic medium, and a valve (2046) is fixedly installed on the oil pipe (2045).

7. A load-carrying drone suitable for use in a tunnel or underground works according to claim 6, wherein, The bottom end of the support rod (203) is fixedly installed with a connecting disc (205), and the add-on (206) is detachably connected with the connecting disc (205).

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