Loadable unmanned aerial vehicle for tunnel or underground construction

Abstract

A loadable unmanned aerial vehicle (UAV) suitable for tunneling or underground construction work, comprising a machine body (1) and an attachment (206) detachably attached to the machine body (1), characterized in that it further comprises a connection module (2), wherein the attachment (206) is rigidly connected to the machine body (1) via the connection module; the connection module (2) comprises a moment compensation mechanism (204); and the moment compensation mechanism (204) compensates a vertical tensile force exerted by the attachment (206) on both sides of the machine body (1) with the center of gravity offset from the machine body (1).

Description

Technical area

[0001] The present invention relates to the technical field of tunnel or underground construction surveying and, in particular, to a loadable unmanned aerial vehicle suitable for tunnel or underground construction. State of the art

[0002] In the tunnel and underground construction industry, unmanned aerial vehicles (UAVs) are primarily used for exploration, inspection, and other tasks. Due to the unique underground environment, UAVs must overcome challenges such as inadequate lighting, confined spaces, curved channels, and various obstacles. Conventional tunnel inspections typically require traffic disruption and the erection of scaffolding. UAVs can take over these tasks, reaching hard-to-reach areas for exploration, improving inspection accuracy, and reducing safety risks.

[0003] Installing workpieces on a UAV is a common special requirement, primarily used for various professional applications such as mapping, surveillance, and search and rescue. Adding a workpiece changes the UAV's center of gravity. It is important to ensure that the new center of gravity position remains within the UAV's operating range to maintain flight stability and controllability. It may be necessary to reconfigure the UAV's weight or adjust the position of other components to restore balance. Summary of the utility model

[0004] The purpose of the present utility model is to solve the problems existing in the prior art and to propose an unmanned aerial vehicle that allows convenient reconfiguration of the counterweight of the unmanned aerial vehicle to restore balance.

[0005] According to the technical solution of the present utility model, a loadable unmanned aerial vehicle suitable for use in tunnels or underground structures comprises a machine body and an attachment detachably attached to the machine body, further comprising: a connection module, wherein the attachment is fixedly connected to the machine body via the connection module; the connection module comprises a moment compensation mechanism; and the moment compensation mechanism compensates for a vertical tensile force exerted by the attachment on both sides of the machine body with the center of gravity offset from the machine body.

[0006] Alternatively, the link module comprises a first link plate detachably mounted in the center of the machine body and a second link plate detachably mounted on both sides of the machine body; a support rod is rotatably mounted on the first link plate; and the moment balance mechanism is mounted between the second link plate and the support rod.

[0007] Alternatively, the moment balance mechanism comprises a sliding cylinder rotatably mounted on the second connecting plate; a pull rod is slidably mounted in the sliding cylinder; a sealing structure is provided between the pull rod and the sliding cylinder; a sliding groove is provided on both sides of the support rod; a connecting base is slidably mounted in the sliding groove; and the support rod is rotatably connected to the connecting base in one-to-one correspondence.

[0008] Alternatively, the sealing mechanism structure comprises a sealing block fixedly mounted to the pull rod, the sealing block having a sealing ring fixedly mounted thereon.

[0009] Alternatively, the moment compensation mechanism further comprises a positioning assembly that controls the relative displacement of the pull rod with respect to the sliding cylinder.

[0010] Alternatively, the positioning assembly comprises an oil line fixedly attached to the sliding cylinder, the oil line communicating with both ends of the sliding cylinder; a hydraulic medium is filled in the sliding cylinder and the oil line; and a valve is fixedly attached to the oil line.

[0011] Alternatively, a connecting plate is permanently attached to the lower end of the support rod; and the fixture is detachably connected to the connecting plate.

[0012] In summary, the present application comprises at least the following advantageous technical effects.

[0013] The torque compensation mechanism can reduce or eliminate the influence of the mounting on the UAV's center of gravity, thus effectively ensuring the UAV's center of gravity position within the UAV's operating range. It can improve the UAV's load-bearing capacity and maintain flight stability and controllability. Brief description of the drawings Fig. 1 is a schematic structural view of an unmanned aerial vehicle; Fig. Figure 2 is a schematic view of the position of a connection module; Fig. 3 is a schematic structural view of the connection module; Fig. 4 is a schematic structural view of a moment balancing mechanism; and Fig. 5 is an enlarged partial view at A in Fig. 4.

[0014] Reference numerals: 1, machine body; 2, connecting module; 201, first connecting plate; 202, second connecting plate; 203, support rod; 204, moment compensation mechanism; 2041, sliding cylinder; 2042, tie rod; 2043, sealing block; 2044, sealing ring; 2045, oil pipe; 2046, valve; 205, connecting plate; 206, attachment; 207, sliding groove; 208, connecting base. Detailed description

[0015] In the following, the technical solution of the present utility model is described in more detail with reference to the drawings and specific embodiments.

[0016] As in the Fig. 1-3, the unmanned aerial vehicle (UAV) proposed by the present utility model application comprises a machine body 1 and an attachment 206 detachably attached to the machine body 1, wherein the attachment of the attachment 206 changes the center of gravity of the unmanned aerial vehicle. The UAV further comprises a connection module 2, wherein the attachment 206 is fixedly connected to the machine body 1 via the connection module, and the connection module 2 includes a torque compensation mechanism 204. The torque compensation mechanism 204 balances the vertical tensile force exerted by the attachment 206 on both sides of the machine body 1 with the center of gravity offset by the machine body 1. The torque compensation mechanism 204 can reduce or eliminate the influence of the attachment 206 on the center of gravity of the UAV, thus effectively ensuring the position of the center of gravity of the UAV within the operating range of the UAV.It can improve the carrying capacity of the UAV and maintain the stability and controllability of the flight.

[0017] Furthermore, the connection module 2 includes a first connection plate 201 detachably mounted in the center of the machine body 1, and a second connection plate 202 detachably mounted on both sides of the machine body 1. A support rod 203 is rotatably mounted on the first connection plate 201. A moment balancing mechanism 204 is mounted between the second connection plate 202 and the support rod 203. The support rod 203 can be fixed by applying a tensile force to both sides of the support rod 203 via the moment balancing mechanism 204, since the tensile force directions of both sides are inclined and the angles of the tensile forces of both sides are different.

[0018] The direction in which the force is applied can be varied by adjusting the angle of the moment balancing mechanism 204. The force generated by the moment balancing mechanism 204 can be broken down into a component perpendicular to the machine body 1 and a component along the surface of the machine body 1. The vertical component can contribute to supporting the weight of the support weight, while the component along the surface of the machine body 1 generates a moment.

[0019] The effect of the lever arm: The angle and length of the moment compensation mechanism 204 determine the size of the lever arm. The larger the lever arm, the greater the resulting moment. By adjusting the length and angle of the moment compensation mechanism 204, the size of the lever arm can be varied and thus the magnitude of the moment can be adjusted.

[0020] Mutual cancellation of moments: If the moments generated by the moment balancing mechanisms 204 on both sides are equal but opposite in direction, they cancel each other out. This means that the clockwise moment generated by the pull rod on one side is balanced by the counterclockwise moment generated by the pull rod on the other side.

[0021] Adjusting to a balanced state: By continuously adjusting the angle and length of the moment balancing mechanism 204, a point can be found at which the moments generated by the moment balancing mechanisms 204 on both sides are equal in magnitude and opposite in direction, so that the forces on both sides of the machine body 1 are balanced and the machine body 1 is held in a horizontal position.

[0022] Here, a connecting plate 205 is fixedly attached to the lower end of the support rod 203, and the attachment 206 is detachably connected to the connecting plate 205.

[0023] As in the Fig.As shown in Figures 2 to 5, the moment balance mechanism 204 includes 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 provided between the pull rod 2042 and the sliding cylinder 2041. A sliding groove 207 is provided on both sides of the support rod 203. A connecting base 208 is slidably supported in the sliding groove 207. The support rod 203 and the connecting base 208 are in a one-to-one relationship and are rotatably connected. By moving 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 compensation mechanism 204 can be changed.Thus, the total length between the pull rod 2042 and the sliding cylinder 2041 can achieve a force balance on both sides of the machine body 1.

[0024] In addition, the sealing mechanism structure includes a sealing block 2043 fixedly attached to the pull rod 2042 and a sealing ring 2044 fixedly attached to the sealing block 2043. The elastic deformation of the sealing ring 2044 can fill the small gap between the sealing block 2043 and the sliding cylinder 2041, thereby achieving the sealing effect.

[0025] Furthermore, the moment compensation mechanism 204 includes a positioning assembly that controls the relative displacement of the pull rod 2042 with respect to the sliding cylinder 2041. When the pull rod 2042 and the sliding cylinder 2041 cannot be moved relative to each other, the total length between the pull rod 2042 and the sliding cylinder 2041 cannot be changed, and the angle cannot be changed. Thus, the total length and angle between the pull rod 2042 and the sliding cylinder 2041 can be fixed by the positioning device.

[0026] Here, the positioning device includes an oil line 2045 fixedly attached to a sliding cylinder 2041. The oil line 2045 communicates with both ends of the sliding cylinder 2041. A hydraulic fluid is filled inside the sliding cylinder 2041 and the oil line 2045. A valve 2046 is fixedly attached to the oil line 2045. When the valve 2046 is turned on and the pull rod 2042 is moved, the hydraulic fluid pressed by the seal block 2043 flows through the oil line 2045 to the other side of the sliding cylinder 2041, allowing the pull rod 2042 to move. The hydraulic fluid is a liquid that is incompressible under working conditions. When the valve 2046 is closed, the pull rod 2042 cannot move, so the pull rod 2042 is fixed.

[0027] In this embodiment, the UAV uses various sensors to realize autonomous navigation. These sensors include a LiDAR, an inertial measurement unit (IMU), and image sensors. By transmitting laser pulses and receiving reflected signals, the LiDAR can accurately measure the distance to the surrounding environment and create a three-dimensional spatial map. The IMU monitors the acceleration and angular velocity of the unmanned aerial vehicle for tunnel patrol inspection and updates the positioning information in real time. The image sensors are located using image recognition techniques in the presence of light. This sensor data is fused and processed by complex algorithms to form a closed-loop feedback system that realizes stable and accurate autonomous navigation.

[0028] The UAV uses a monocular camera, LiDAR, and the IMU's SLAM (Simultaneous Localization and Mapping) technology in a complex, light-affected environment (e.g., a tunnel). By merging multiple sensors, this technology can achieve high-precision positioning and mapping, overcoming problems such as light fluctuations and individual features. The monocular cameras are used to capture images of the environment, extract feature points, and track the position changes of these feature points in different image frames. The LiDAR provides high-precision point cloud data for creating a three-dimensional map and achieving accurate positioning. The IMU data is used to predict the UAV's motion state and is modified when the LiDAR and monocular camera data are updated.

[0029] Working principle: 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 compensation mechanism 204 can be changed.

[0030] The angle and length of the moment compensation mechanism 204 determine the size of the lever arm. The larger the lever arm, the greater the resulting moment. By adjusting the length and angle of the moment compensation mechanism 204, the size of the lever arm can be varied and thus the magnitude of the moment can be adjusted.

[0031] Mutual cancellation of moments: If the moments generated by the moment balancing mechanisms 204 on both sides are equal but opposite in direction, they cancel each other out. This means that the clockwise moment generated by the pull rod on one side is balanced by the counterclockwise moment generated by the pull rod on the other side.

[0032] By continuously adjusting the angle and length of the moment balancing mechanism 204, it is possible to find a point at which the moments generated by the moment balancing mechanisms 204 on both sides are equal in magnitude and opposite in direction, so that the forces on both sides of the machine body 1 are balanced and the machine body 1 is kept in a horizontal state.

[0033] The above-mentioned specific embodiments are merely some alternative embodiments of the present utility model. Based on the technical solution of the present utility model and the relevant inspiration of the above-mentioned embodiments, a person skilled in the art would be able to make various alternative modifications and combinations of the above-mentioned specific embodiments.

[0034] The present utility model relates to the technical field of tunnel or underground exploration and, in particular, to a loadable unmanned aerial vehicle suitable for a tunnel or underground structure. The technical solution comprises a machine body and an attachment removably attached to the machine body, as well as a connecting module, wherein the attachment is firmly connected to the machine body via the connecting module. The connecting module comprises a moment compensation mechanism; and the moment compensation mechanism compensates for a vertical tensile force exerted by the attachment on both sides of the machine body with the center of gravity offset from the machine body.The utility model can reduce or eliminate the influence of the attachment on the center of gravity of the unmanned aircraft through the moment compensation mechanism, thus effectively ensuring the position of the center of gravity of the UAV within the operating range of the UAV. It can improve the UAV's carrying capacity and maintain flight stability and controllability.

Claims

[1] Loadable unmanned aerial vehicle (UAV), suitable for tunnelling or underground construction work, comprising a machine body (1) and an attachment (206) detachably attached to the machine body (1), characterized by that it further comprises a connection module (2), wherein the attachment (206) is fixedly connected to the machine body (1) via the connection module; the connection module (2) comprises a moment compensation mechanism (204); and the moment compensation mechanism (204) compensates a vertical tensile force exerted by the attachment (206) on both sides of the machine body (1) with the center of gravity offset from the machine body (1). [2] Loadable UAV suitable for tunnel construction or civil engineering, according to claim 1, characterized bythat the connection module (2) comprises a first connection plate (201) detachably mounted in the center of the machine body (1) and a second connection plate (202) detachably mounted on both sides of the machine body (1); a support rod (203) is rotatably mounted on the first connection plate (201); and the moment compensation mechanism (204) is mounted between the second connection plate (202) and the support rod (203). [3] Loadable UAV suitable for tunnel or underground construction, according to claim 2, characterized byin that the moment compensation 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 is provided between the pull rod (2042) and the sliding cylinder (2041); a sliding groove (207) is provided on both sides of the support rod (203); a connecting base (208) slidably mounted in the sliding groove (207); and the support rod (203) is rotatably connected to the connecting base (208) in a one-to-one correspondence. [4] Loadable UAV suitable for tunnels or civil engineering, according to claim 3, characterized by in that the sealing mechanism structure comprises a sealing block (2043) fixedly attached to the pull rod (2042), the sealing block (2043) having a sealing ring (2044) fixedly attached thereto. [5] Loadable UAV suitable for tunnel construction or civil engineering, according to claim 4, characterized by that the moment compensation mechanism (204) further comprises a positioning unit which controls the relative displacement of the pull rod (2042) with respect to the sliding cylinder (2041). [6] Loadable UAV suitable for tunnel construction or civil engineering, according to claim 5, characterized by that the positioning assembly comprises an oil line (2045) fixedly attached to the sliding cylinder (2041), the oil line (2045) communicating with both ends of the sliding cylinder (2041); a hydraulic medium is filled in the sliding cylinder (2041) and the oil line (2045); and a valve (2046) is fixedly attached to the oil line (2045). [7] Loadable UAV suitable for tunnel construction or civil engineering, according to claim 6, characterized bythat a connecting plate (205) is fixedly attached to the lower end of the support rod (203); and the fastening (206) is detachably connected to the connecting plate (205).

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