Tunnel wall cleaning drone

Abstract

This utility model relates to the field of tunnel technology and discloses a tunnel wall cleaning drone, including a body, one or more contact cleaning components and a spray cleaning component. The contact cleaning component includes a rotating assembly and a contact head. One end of the rotating assembly is mounted on the body, and the other end is connected to the contact head, the other end being adjustable in position relative to the body. The contact head is configured to perform contact cleaning on the tunnel wall and / or the body. The spray cleaning component is mounted on the body and includes one or more spray nozzles, configured to spray cleaning material onto the tunnel wall and / or the body. This utility model achieves safe, comprehensive, and efficient cleaning of tunnel walls through the combination of the contact cleaning component and the spray cleaning component.

Description

Technical Field

[0001] This utility model relates to the field of tunnel technology, specifically to a tunnel wall cleaning drone. Background Technology

[0002] For a long time, tunnel wall cleaning has relied primarily on manual labor to remove dirt, moss, water seepage, and inspect for cracks, leaks, and deformations. Workers must operate at heights or erect scaffolding within the tunnel, which is not only physically demanding and inefficient but also carries risks such as falls from heights, poor air quality inside the tunnel, traffic disruptions, and potential electric shocks. Manual cleaning and inspection are time-consuming and labor-intensive, especially for long tunnels, resulting in long maintenance cycles and high costs. Prolonged work often necessitates the closure of some or all traffic, significantly impacting traffic flow. Therefore, finding a safe and efficient way to clean tunnel walls is of paramount importance. Utility Model Content

[0003] To address one or more of the problems existing in the prior art, this utility model provides a tunnel wall cleaning drone, including a body, one or more contact cleaning components and a spray cleaning component;

[0004] The contact cleaning component includes a rotating assembly and a contact head. One end of the rotating assembly is mounted on the machine body, and the other end of the rotating assembly is connected to the contact head. The other end of the rotating assembly is configured to be adjustable in position relative to the machine body. The contact head is configured to perform contact cleaning on the tunnel wall and / or the machine body.

[0005] The spray cleaning component is mounted on the machine body and includes one or more spray tubes, which are configured to spray cleaning material onto the tunnel walls and / or the machine body for cleaning.

[0006] In one feasible implementation, the tunnel wall cleaning drone also includes one or more of the following components:

[0007] One or more anti-collision corners, the anti-collision corners being adapted to be installed at the ends of the body;

[0008] One or more distance sensors, the distance sensors being mounted on the body;

[0009] One or more lidar sensors, the lidar sensors being mounted on the body;

[0010] One or more visible light cameras, said visible light cameras being mounted on the body;

[0011] One or more positioning modules are mounted on the body.

[0012] In one feasible embodiment, the rotating assembly includes a fixed rod, a connecting rod, a rotating rod, and a movable rod:

[0013] One end of the fixing rod is fixedly or detachably connected to the machine body, and the other end of the fixing rod is connected to one end of the connecting rod via a universal joint;

[0014] The other end of the connecting rod is connected to one end of the rotating rod via a universal joint;

[0015] The other end of the rotary rod is connected to one end of the movable rod via a universal joint;

[0016] The other end of the movable rod is fixedly or detachably connected to the contact head.

[0017] In one feasible implementation, the contact head is a flexible rotating brush.

[0018] In one feasible embodiment, the spray cleaning component further includes a storage tank, which is fixedly or detachably connected to the body. The storage tank has a hollow structure and includes one or more cavities that communicate with the spray cylinder.

[0019] In one feasible embodiment, the spraying cylinder includes a material spraying cylinder and a water spraying cylinder, wherein the water spraying cylinder is configured to spray water; and the material spraying cylinder is configured to spray cleaning material.

[0020] In one feasible embodiment, the tunnel wall cleaning drone further includes one or more mechanical claws, which are fixedly or detachably linked to the body and are configured to grasp the spray nozzle.

[0021] In one feasible embodiment, the tunnel wall cleaning drone further includes a connecting tripod, one end of which is connected to the body and the other end of which is connected to the spray cleaning component.

[0022] In one feasible embodiment, the tunnel wall cleaning drone further includes multiple drive components, which include a folding rod, a protective cover, and a motor.

[0023] One end of the folding rod is mounted on the machine body, and the other end of the folding rod is connected to one end of the protective cover;

[0024] One end of the protective cover is provided with one or more connecting rods, and the other end of the protective cover is connected to multiple wings;

[0025] The multiple wings are also connected to the rotor of the motor.

[0026] In one feasible implementation, the tunnel wall cleaning drone also includes anti-collision corners, a drive component, a positioning module, a visible light camera, connecting tripods, and a distance sensor.

[0027] The plurality of the aforementioned anti-collision corners extend from the sides of the body;

[0028] The two contact cleaning components are respectively disposed on the top of the two sides of the body;

[0029] Two drive components form a group, and the two groups of drive components are respectively arranged on two sides of the fuselage; the two drive components in a group of drive components are spaced apart; the drive components are configured to drive the fuselage to fly.

[0030] The positioning module is located on the top surface of the machine body;

[0031] A visible light camera is mounted on the front of the device.

[0032] A connecting bracket is mounted on the bottom surface of the machine body and connected to the spray cleaning component;

[0033] A distance sensor is located on the back of the machine body.

[0034] The tunnel wall cleaning drone of this utility model cleans the tunnel wall by using contact cleaning components and spray cleaning components, avoiding the technical problems caused by manual cleaning, such as falls from heights, gas poisoning, electric shock, high labor intensity, low cleaning efficiency, and high maintenance costs. It achieves safe and efficient cleaning of tunnel walls by combining two cleaning methods with the machine body. Attached Figure Description

[0035] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0036] Figure 1 This is an isometric view of one embodiment of the tunnel wall cleaning drone described in this utility model;

[0037] Figure 2 This is a perspective view of one embodiment of the spray cleaning component described in this utility model;

[0038] Figure 3 This is a bottom perspective view of one embodiment of the spray cleaning component described in this utility model;

[0039] Figure 4 This is a front view of one embodiment of the tunnel wall cleaning drone described in this utility model;

[0040] Figure 5 This is a rear view of one embodiment of the tunnel wall cleaning drone of this utility model;

[0041] Figure 6This is a perspective view of one embodiment of the tunnel wall cleaning drone of this utility model;

[0042] Figure 7 A bottom-view perspective view of one embodiment of the tunnel wall cleaning drone of this utility model.

[0043] Figure 8 This is a top view of one embodiment of the tunnel wall cleaning drone of this utility model;

[0044] The components include: 1. Body; 2. Anti-collision corners; 3. Contact cleaning components; 301. Fixed rod; 302. Universal joint; 303. Connecting rod; 304. Rotating rod; 305. Movable rod; 306. Contact head; 4. Drive components; 401. Folding rod; 402. Motor; 403. Connecting cover rod; 404. Wing; 405. Protective cover; 5. Positioning module; 6. Visible light camera; 7. LiDAR; 8. Connecting legs; 801. Buffer layer; 802. Slide; 9. Spray cleaning components; 901. Slider; 902. Loading cover; 903. Spray cylinder; 904. Spray nozzle; 905. Fixed plate; 906. Water spray cylinder; 907. Storage box; 10. Distance sensor. Detailed Implementation

[0045] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0046] In the description of this utility model, it should be understood that the terms "front," "back," "top," "bottom," "side," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0047] The following disclosure provides many different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or reference letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0048] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0049] Existing technologies rely on manual cleaning of tunnel walls, which presents technical problems such as danger, time and labor costs, high maintenance costs, and traffic disruption. To overcome these problems, this invention utilizes drones to clean tunnel walls. Figure 1 As shown, this utility model provides a tunnel wall cleaning drone, comprising:

[0050] Body 1;

[0051] The contact cleaning component 3 includes a rotating assembly and a contact head 306. One end of the rotating assembly is mounted on the body 1, and the other end of the rotating assembly is connected to the contact head 306. The other end of the rotating assembly is configured to be adjustable in position relative to the body 1. The contact head 306 is configured to perform contact cleaning on the tunnel wall and / or the body 1.

[0052] The spray cleaning component 9, mounted on the body 1, includes one or more spray tubes configured to spray cleaning material onto the tunnel walls and / or the body 1.

[0053] This invention uses a drone, including a contact cleaning component 3 and a spray cleaning component 9, to clean the tunnel walls, avoiding the technical problems associated with manual cleaning, such as falls from heights, gas poisoning, electric shock, high labor intensity, low cleaning efficiency, and high maintenance costs.

[0054] In addition, using the tunnel wall cleaning drone of this utility model to clean the tunnel wall can also avoid closing the tunnel to traffic, reducing the impact on traffic flow.

[0055] Furthermore, the tunnel wall cleaning drone of this invention employs two cleaning components: a contact cleaning component 3 and a spray cleaning component 9. The contact head 306 of the contact cleaning component 3 can penetrate deep into the gaps in the tunnel wall for cleaning, while the spray cleaning component 9 can perform efficient cleaning over a large area. By combining these two cleaning components, the instability of the drone's flight caused by using only one cleaning method can be avoided. For example, using only one cleaning method may result in excessive force to ensure cleaning effectiveness, leading to drone instability. Therefore, the tunnel wall cleaning drone of this invention can achieve comprehensive, efficient, and stable tunnel wall cleaning.

[0056] In one feasible implementation, such as Figure 1 As shown, the rotating assembly of the contact cleaning component 3 includes a fixed rod 301, a connecting rod 303, a rotating rod 304, and a movable rod 305:

[0057] One end of the fixing rod 301 is fixedly or detachably connected to the body 1, and the other end of the fixing rod 301 is connected to one end of the connecting rod 303 through the universal joint 302;

[0058] The other end of the connecting rod 303 is connected to one end of the rotating rod 304 via a universal joint 302;

[0059] The other end of the rotary rod 304 is connected to one end of the movable rod 305 via a universal joint 302;

[0060] The other end of the movable rod 305 is fixedly or detachably connected to the contact head 306.

[0061] The universal joint, connecting rod, swivel rod, movable rod and contact head in the contact cleaning component of this utility model are combined so that the contact head can flexibly adapt to different curvatures and unevennesses of the tunnel wall.

[0062] The above illustrates one embodiment of the rotating assembly, but the present invention is not limited thereto. For example, the rotating assembly can achieve cleaning and retraction of the contact head in all directions by means of a motor and a telescopic rod connected to the motor shaft. Alternatively, the rotating assembly can also be a motor and a telescopic swing rod structure connected to the motor shaft. Of course, it can also be a combination of several embodiments. For example, the fixed rod, connecting rod, rotating rod and / or movable rod can be a telescopic rod. The telescopic rod can be an electric telescopic rod or a hydraulic telescopic rod.

[0063] To facilitate the cleaning and replacement of the contact head 306, preferably, the contact head 306 is detachably connected to the movable rod 305.

[0064] To further improve the cleaning effect, preferably, the contact head 306 is a flexible rotating brush.

[0065] The contact cleaning component 3 of this invention can clean the tunnel wall from multiple directions by rotating the rotating assembly, and the contact head 306 can reach deep into the crevices of the tunnel wall for cleaning. As the dirt on the tunnel wall is cleaned, it falls onto the drone. The rotating assembly drives the contact head 306 to clean the drone, preventing dirt from causing malfunction and extending the drone's lifespan.

[0066] In one feasible embodiment, the tunnel wall cleaning drone includes two contact cleaning components 3, which are respectively disposed on the top of two sides of the body 1 (divided into six directions with the drone's nose as the front: front, back, top, bottom, left side, and right side). The two contact cleaning components located on the top of the two sides of the body 1 cooperate with the two sets of flight wings located at the bottom of the two sides of the body 1, which is conducive to the stable flight of the drone. In addition, when cleaning the same wall of the tunnel, the drone faces the wall, and the two contact cleaning components clean the left and right sides of the corresponding wall of the body 1 respectively. The spray cleaning component 9 cleans the corresponding wall of the body 1, ensuring comprehensive and stable wall cleaning. Furthermore, when cleaning a narrower tunnel, the drone faces the tunnel entrance, and the two contact cleaning components 3 simultaneously clean the two side walls or the top and bottom of the narrower tunnel, comprehensively, stably, and efficiently cleaning the tunnel.

[0067] In one feasible implementation, such as Figure 2 and Figure 3 As shown, the spray cleaning component 9 also includes a storage tank 907, which is fixedly or detachably connected to the body 1. The storage tank 907 has a hollow structure and includes one or more cavities, which are connected to the spray cylinder.

[0068] The storage bin 907 of this invention has cavities that can store different cleaning materials, enabling the cleaning of various stains on the tunnel walls. When the storage bin 907 has multiple cavities, different cleaning materials can be stored in different cavities and connected to different spray nozzles to achieve simultaneous cleaning of different stains on the tunnel walls. Of course, cleaning materials that need to be mixed for spraying can be stored in different cavities. Different cavities are connected to the same spray nozzle, where they are mixed and sprayed together.

[0069] In one feasible embodiment, the spraying cylinder includes a material spraying cylinder 903 and a water spraying cylinder 906, which spray different cleaning materials. For example, the material spraying cylinder 903 sprays a cleaning material with a higher viscosity than the water spraying cylinder 906; or, after the material spraying cylinder 903 sprays the cleaning material, the water spraying cylinder 906 sprays water to remove the cleaning material from the tunnel wall and further clean the wall, preventing damage to the wall caused by residual cleaning material; or, the material spraying cylinder 903 sprays a foam-like cleaning material, and the water spraying cylinder 906 sprays a liquid cleaning material. This is just an example of different spraying methods used by the material spraying cylinder 903 and the water spraying cylinder 906, but the present invention is not limited to this. For example, the material spraying cylinder 903 can spray a powdered cleaning material, and the water spraying cylinder 906 can spray a liquid cleaning material. Furthermore, the material spraying cylinder 903 and the water spraying cylinder 906 can spray cleaning materials simultaneously or at different times.

[0070] In one feasible embodiment, the nozzles 904 of the spray cylinder 903 and the water spray cylinder 906 can be different for spraying different cleaning materials. For example, the nozzle for spraying foam can be an air-suction foam nozzle, which draws in air under negative pressure and forcibly mixes it with the foam mixture to form stable foam; the nozzle for spraying liquid can be a straight nozzle, which cuts or penetrates dirt with high-pressure jet; and the nozzle for spraying solid cleaning materials can be a fan-shaped nozzle, which increases the spray area and reduces powder clogging.

[0071] In one feasible embodiment, the storage tank 907 includes four cavities: a first cavity contains cleaning liquid, a second cavity contains cleaning powder, a third cavity contains cleaning foam, and a fourth cavity is equipped with an air compression device (e.g., a miniature blower, a miniature linear compressor, etc.). The air compression device is configured to draw in outside air and then compress the air before inputting it into the second cavity or / and a spray nozzle connected to the second cavity. This facilitates the uniform mixing and spraying of the cleaning powder and prevents the cleaning powder from clogging the nozzle. The compressed air can also be introduced into the third cavity or / and a spray nozzle connected to the third cavity, which is beneficial for the stable formation of cleaning foam and the application of cleaning foam to the wall surface.

[0072] Optionally, at least the partitions between different chambers are made of heat-conducting material to transfer the heat generated by the compression of the fourth chamber to other chambers, which facilitates the heat dissipation of the air compression equipment. Generally, the cleaning effect will increase when the cleaning material is at a higher temperature, which will also help to enhance the cleaning effect.

[0073] The spray cylinder 903 and the water spray cylinder 906 can be set on the same surface of the storage box 907. However, in order to miniaturize the storage box 907 and stabilize the overall weight of the UAV, in one feasible embodiment, the spray cylinder 903 and the water spray cylinder 906 are respectively set on two opposite surfaces of the storage box 907, and the nozzles 904 of the spray cylinder 903 and the water spray cylinder 906 face the front of the body 1.

[0074] In one feasible implementation, such as Figures 1-3 As shown, the spray cleaning mechanism is located on the bottom surface of the body 1 and is fixedly or detachably connected to the body 1. Specifically:

[0075] The storage bin 907 is connected to the bottom surface of the machine body 1;

[0076] The spray cylinder 903 or the water spray cylinder 906 is located on the side of the storage box 907 facing the machine body 1;

[0077] The water spray nozzle 906 or the material spray nozzle 903 is located on the opposite side of the aforementioned side.

[0078] The spray cleaning components can be completely removed from the machine body 1 for replacement, or the storage box 907 can be fixedly connected to the machine body 1. The spray cylinder 903 and the water spray cylinder 906 are detachable.

[0079] This utility model's storage box has multiple cavities inside, and is equipped with a spray nozzle and a water spray nozzle. In addition to spraying water for cleaning, it can also load and spray specific cleaning agents or other maintenance materials to achieve more refined cleaning and treatment operations. Compared with manual labor, the work efficiency is greatly improved, the tunnel maintenance cycle is shortened, and the traffic closure time is reduced.

[0080] To reduce the impact of the high-pressure jet from the spray cleaning mechanism on the machine body 1, in one feasible embodiment, such as Figures 4-7 As shown, the spray cleaning mechanism is connected to the body 1 via a connecting leg 8. One end of the connecting leg 8 is fixedly or detachably connected to the body 1, and the other end of the connecting leg 8 is fixedly or detachably connected to the spray cleaning component 9.

[0081] To further enhance the cushioning effect, a cushioning layer 801, such as cushioning rubber, is provided on the side of the connecting leg 8 facing the spray cleaning component.

[0082] To facilitate the loading of cleaning material onto the spray cleaning component 9, preferably, the connecting legs 8 and the spray cleaning component are detachably connected, for example, by snap-fit ​​connection, plug-in connection, interlocking connection, etc.

[0083] The closer the nozzle 904 of the spray tube is to the wall, the greater the spray pressure and the easier it is to remove stains. The farther the nozzle 904 is from the wall, the larger the spray area, which is beneficial to cleaning efficiency. In order to facilitate the adjustment of the distance between the nozzle 904 and the wall when the drone is stable, the connecting foot 8 and the spray cleaning assembly are connected by a slide rail slider 901. For example, one or more slide grooves 802 are provided on the bottom surface of the connecting foot 8, and one or more sliders 901 are provided on the top surface of the spray cleaning assembly.

[0084] To prevent tunnel wall cleaning drones from colliding with the tunnel walls, in one feasible implementation, such as Figure 8 As shown, the tunnel wall cleaning drone also includes one or more anti-collision corners 2, which are adapted to be installed at the end of the body 1 to prevent the end of the body 1 from hitting the tunnel wall and avoid damage to the body 1 caused by the collision.

[0085] Taking into account the stability of the drone's counterweight, in a preferred embodiment, such as Figure 1 and Figure 8 As shown, the tunnel wall cleaning drone includes multiple anti-collision corners 2 (two or four), which are symmetrically installed on two sides of the body 1. The anti-collision corners 2 extend out of the two sides and play a role in preventing collisions.

[0086] Preferably, the anti-collision corner extends to the bottom side of the machine body, which serves to prevent collisions while not hindering the rotation of the rotating components that contact the cleaning components.

[0087] In one feasible implementation, a nozzle is provided on the top surface of the impact corner, facing the top surface of the aircraft body, and the nozzle is configured for cleaning the drone.

[0088] In the above feasible implementation, the anti-collision angle 2 can be an arc-shaped anti-collision block to reduce the damage caused by the anti-collision block to the wall surface.

[0089] To further enhance the anti-collision effect, in a preferred embodiment, the tunnel wall cleaning drone also includes a distance sensor 10, which is configured to sense the distance between the drone and the tunnel wall, preventing collisions while facilitating the control of the cleaning distance.

[0090] This invention employs anti-collision corners and distance sensors, fundamentally eliminating the risks to workers operating in high-altitude, enclosed, and complex electromagnetic environments through the operation of drones, thus ensuring personnel safety. The anti-collision corners at both ends of the drone and the distance sensor on the back further enhance the safety of the drone flying in tunnels and prevent collisions.

[0091] In the prior art, the flying wing drives the body 1 to fly. In order to facilitate the stable flight of the UAV, in a feasible embodiment, the tunnel wall cleaning UAV also includes multiple driving components 4, which are respectively arranged on two sides of the body 1. The driving mechanism is configured to drive the body 1 to fly.

[0092] This invention employs a driving component, a contact cleaning component, and a spray cleaning component. The driving component enables the drone to clean the tunnel walls quickly and continuously, while the contact cleaning component and the spray cleaning component enable efficient cleaning and more refined cleaning and treatment operations. Compared with manual labor, the work efficiency is greatly improved, the tunnel maintenance cycle is shortened, and the traffic closure time is reduced.

[0093] In one feasible implementation, such as Figure 7 and Figure 8 As shown, the driving component 4 includes a folding rod 401, a protective cover 405, and a motor 402.

[0094] One end of the folding rod 401 is mounted on the machine body 1, and the other end of the folding rod 401 is connected to one end of the protective cover 405.

[0095] One end of the protective cover 405 is provided with one or more connecting rods 403, and the other end of the protective cover 405 is connected to multiple wings 404;

[0096] The plurality of wings 404 are also connected to the rotor of the motor 402.

[0097] The aforementioned drive mechanism drives the wing 404 to rotate via motor 402, thereby propelling the drone into flight. Furthermore, a protective shield 405 protects the wing 404, and a connecting rod 403 enhances the stability of the shield 405. Moreover, the folding rod 401 allows for adjustment of the drive component 4's position relative to the body 1, and also enables the drive component 4 to be folded and stored.

[0098] To enable both cleaning and inspection functions, the tunnel wall cleaning drone also includes one or more of the following components:

[0099] One or more lidar sensors 7 are mounted on the body 1;

[0100] One or more visible light cameras 6 are mounted on the body 1;

[0101] One or more positioning modules 5, wherein the positioning modules 5 are mounted on the body 1;

[0102] A smart processor (not shown) is wired or wirelessly connected to a lidar, visible light camera, positioning module, and / or distance sensor, and is configured to receive and process data.

[0103] This invention employs a positioning module, a visible light camera, and a lidar. The onboard visible light camera can clearly capture images of the tunnel wall, while the lidar not only assists in precise positioning and obstacle avoidance but also acquires three-dimensional point cloud data of the tunnel for structural analysis and defect identification. The high-precision positioning module on top ensures the drone's accurate location information within the tunnel, providing a guarantee for precise operations. This drone integrates cleaning and detection functions, enabling it to complete multiple tasks in a single flight, simplifying the operational process. The intelligent processor inside the drone coordinates the efficient operation of each module.

[0104] In a preferred embodiment, the tunnel wall cleaning drone includes a lidar 7, a visible light camera 6, and a positioning module 5. The high resolution of the visible light camera 6 can clearly capture images of the wall, and the high-precision measurement of the lidar 7 can not only assist in accurate positioning and obstacle avoidance, but also obtain three-dimensional point cloud data of the tunnel for structural analysis and defect identification. The positioning module 5 (e.g., GPS) ensures the accurate location information of the drone in the tunnel, providing a guarantee for precise operation.

[0105] To prevent the drone from falling to the ground and being damaged by contact with the ground and / or the spray cleaning component 9, in one feasible embodiment, the tunnel wall cleaning drone also includes support legs mounted on the bottom surface of the body 1.

[0106] In one feasible embodiment of this utility model, a mechanical claw (not shown) can be used to replace the storage box 907, and the spraying cylinder can be installed on the mechanical claw. The opening and closing size of the mechanical claw can be adjusted according to the size of the spraying cylinder.

[0107] In one specific embodiment of this utility model, the tunnel wall cleaning drone includes a body 1, with anti-collision corners 2 at both ends. The body 1 is shaped like a trapezoid and has an intelligent processor inside. The body 1 and the anti-collision corners 2 are connected by welding. Contact cleaning components 3 are provided on both sides of the top of the body 1. Each contact cleaning component 3 includes a fixed rod 301, a universal joint 302 at the top of the fixed rod 301, a connecting rod 303 on one side of the universal joint 302, a rotating rod 304 at the other end of the connecting rod 303, a movable rod 305 at the bottom of the rotating rod 304, and a contact head 306 of a flexible rotating brush at the other end of the movable rod 305. The fixed rod 301 is connected to the body 1 by screws, and the fixed rod 301 and the connecting rod 303... All components, including the connecting rod 303, the rotating rod 304, and the movable rod 305, are connected by universal joints 302. Drive components 4 are located on both sides of the body 1. Each drive component 4 includes a folding rod 401. One end of the folding rod 401 is equipped with a high-power motor 402. A connecting rod 403 is located outside the high-power motor 402. A protective cover 405 is located at the other end of the connecting rod 403. A wing 404 is located inside the protective cover 405. The other end of the wing 404 is connected to the high-power motor 402. A high-precision positioning module 5 is located on the top of the body 1. A high-resolution visible light camera 6 is located at the center of the front of the body 1. High-precision lidar 7 is located on both sides of the high-resolution visible light camera 6. A connecting leg 8 is located at the bottom of the body 1. The bottom of the connecting leg 8 is equipped with a storage box 907, the top of the storage box 907 is equipped with a slider 901, the storage box 907 has two cavities inside, the back of the storage box 907 is equipped with a loading cover 902, the inner side of the slider 901 is equipped with a spray cylinder 903, the front end of the spray cylinder 903 is equipped with a spray nozzle, the bottom of the storage box 907 is equipped with a fixing plate 905, the front of the fixing plate 905 is equipped with a water spray cylinder 906, the front of the water spray cylinder 906 is equipped with a spray nozzle, the top of the connecting leg 8 is equipped with a cushioning rubber, the bottom of the connecting leg 8 is equipped with a sliding groove 802, the sliding groove 802 cooperates with the slider 901, the back of the machine body 1 is equipped with a distance sensor 10, and it adopts a drive component 4, a contact cleaning component 3 and a storage box 907, through the drive component 4 The high-power motor 402 on the drive component 4 enables the drone to quickly and continuously clean and inspect the tunnel walls. The high-power motor 402 ensures flight power. Efficient cleaning is achieved through the water and material nozzles that work in conjunction with the contact cleaning component 3 and the storage tank 907. The universal joint 302, connecting rod 303, rotating rod 304, movable rod 305, and flexible rotating brush in the contact cleaning component 3 work together to flexibly adapt to different curvatures and unevennesses of the tunnel walls. The storage tank 907 has two cavities and is equipped with a loading cover 902, a spray cylinder 903, and spray nozzles. In addition to water cleaning, it can also load and spray specific cleaning agents or other maintenance materials for more refined cleaning and processing operations.Compared to manual labor, this method significantly improves efficiency, shortens tunnel maintenance cycles, and reduces traffic closure times.

[0108] In another specific embodiment of this utility model, a support leg is installed at the bottom of the body 1. Its function is to ensure that the drone can be protected from contact with the ground when it falls. The storage box 907 at the bottom can be replaced with a mechanical claw. The spray tube can be installed on the mechanical claw. The size of the mechanical claw can be adjusted according to different spray tubes. The inside of the tunnel is cleaned by grabbing different spray tubes.

[0109] This utility model uses anti-collision corners 2 and distance sensors 10 to fundamentally eliminate the risks of workers operating in high-altitude, enclosed, and complex electromagnetic environments through the operation of drones, thus ensuring personnel safety. The anti-collision corners 2 at both ends of the body 1 and the distance sensors 10 on the back further improve the safety of the drone flying in tunnels and prevent collisions.

[0110] This utility model employs a drive component 4, a contact cleaning component 3, and a spray cleaning component 9. Through the motor 402 on the drive component 4, the drone can quickly and continuously clean and inspect the tunnel wall. The contact cleaning component 3 and the spray cleaning component 9 enable efficient cleaning and more refined cleaning and treatment operations. Compared with manual labor, the work efficiency is greatly improved, the tunnel maintenance cycle is shortened, and the traffic closure time is reduced.

[0111] This utility model employs a positioning module 5, a visible light camera 6, and a lidar 7. The high resolution of the mounted visible light camera 6 enables clear capture of wall images. The high precision of the lidar 7 not only assists in precise positioning and obstacle avoidance but also acquires three-dimensional point cloud data of the tunnel for structural analysis and defect identification. The high precision of the top positioning module 5 ensures the accurate position information of the drone within the tunnel, providing a guarantee for precise operations. This drone integrates cleaning and detection functions, enabling it to complete multiple tasks in a single flight, simplifying the work process. The intelligent processor inside the body 1 coordinates the efficient operation of each module.

[0112] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A tunnel wall cleaning drone, comprising a body, characterized in that, It also includes one or more contact cleaning components and spray cleaning components; The contact cleaning component includes a rotating assembly and a contact head. One end of the rotating assembly is mounted on the machine body, and the other end of the rotating assembly is connected to the contact head. The other end of the rotating assembly is configured to be adjustable in position relative to the machine body. The contact head is configured to perform contact cleaning on the tunnel wall and / or the machine body. The spray cleaning component is mounted on the machine body and includes one or more spray tubes, which are configured to spray cleaning material onto the tunnel walls and / or the machine body for cleaning.

2. The tunnel wall cleaning drone according to claim 1, characterized in that, It also includes one or more of the following components: One or more anti-collision corners, the anti-collision corners being adapted to be installed at the ends of the body; One or more distance sensors, the distance sensors being mounted on the body; One or more lidar sensors, the lidar sensors being mounted on the body; One or more visible light cameras, said visible light cameras being mounted on the body; One or more positioning modules are mounted on the body.

3. The tunnel wall cleaning drone according to claim 1, characterized in that, The rotating assembly includes a fixed rod, a connecting rod, a rotating rod, and a movable rod: One end of the fixing rod is fixedly or detachably connected to the machine body, and the other end of the fixing rod is connected to one end of the connecting rod via a universal joint; The other end of the connecting rod is connected to one end of the rotating rod via a universal joint; The other end of the rotary rod is connected to one end of the movable rod via a universal joint; The other end of the movable rod is fixedly or detachably connected to the contact head.

4. The tunnel wall cleaning drone according to claim 1, characterized in that, The contact head is a flexible rotating brush.

5. The tunnel wall cleaning drone according to claim 1, characterized in that, The spray cleaning component also includes a storage tank, which is fixedly or detachably connected to the machine body. The storage tank has a hollow structure and includes one or more cavities, which are connected to the spray cylinder.

6. The tunnel wall cleaning drone according to claim 1, characterized in that, The spraying cylinder includes a material spraying cylinder and a water spraying cylinder, wherein the water spraying cylinder is configured to spray water; and the material spraying cylinder is configured to spray cleaning material.

7. The tunnel wall cleaning drone according to claim 1, characterized in that, It also includes one or more mechanical grippers, which are fixedly or detachably connected to the body and are configured to grip the spray nozzle.

8. The tunnel wall cleaning drone according to claim 1, characterized in that, It also includes a connecting stand, one end of which is connected to the machine body, and the other end of which is connected to the spray cleaning component.

9. The tunnel wall cleaning drone according to claim 1, characterized in that, It also includes multiple drive components, which include a folding rod, a protective cover, and a motor: One end of the folding rod is mounted on the machine body, and the other end of the folding rod is connected to one end of the protective cover; One end of the protective cover is provided with one or more connecting rods, and the other end of the protective cover is connected to multiple wings; The multiple wings are also connected to the rotor of the motor.

10. The tunnel wall cleaning drone according to claim 1, characterized in that, It also includes anti-collision corners, drive components, positioning modules, visible light cameras, connecting tripods, and distance sensors: The plurality of the aforementioned anti-collision corners extend from the sides of the body; The two contact cleaning components are respectively disposed on the top of the two sides of the body; The two drive components form a group, and the two groups of drive components are respectively arranged on two sides of the body; Two drive components in a set of drive components are spaced apart; the drive components are configured to drive the aircraft to fly. The positioning module is located on the top surface of the machine body; A visible light camera is mounted on the front of the device. A connecting bracket is mounted on the bottom surface of the machine body and connected to the spray cleaning component; A distance sensor is located on the back of the machine body.

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