Terminal putting method, device and system for landslide monitoring in unmanned area

Abstract

The embodiment of the invention provides a terminal putting method, device and system for landslide monitoring in a depopulated area, a terminal is a pyramid measuring terminal, a groove is formed in a certain triangular plane in the pyramid measuring terminal, when the pyramid measuring terminal is hung on an unmanned aerial vehicle, the groove contains a steel ball with a hanging line, the groove forms a gap in the triangular plane, and the groove is connected with the unmanned aerial vehicle. The method comprises the following steps: controlling a pyramid measurement terminal to descend under the condition that the unmanned aerial vehicle hovers above a specified putting position; when the pyramid measurement terminal descends to a specified putting position, the steel ball slides out of the groove from the gap under the action of gravity, and the pyramid measurement terminal is put to the specified putting position; the specified putting position is used for indicating the unmanned area monitoring point position. After the measuring terminal falls to the ground, the suspension line automatically falls off, the pyramid measuring terminal is thrown to a designated throwing position, and then the throwing type Beidou terminal is hung below the unmanned aerial vehicle to arrange the monitoring point position of the unmanned area.

Description

Technical Field

[0001] The present invention relates to the technical field of geological disaster monitoring, and in particular to a terminal delivery method for landslide monitoring in an unmanned area, a terminal delivery device for landslide monitoring in an unmanned area, and a corresponding terminal delivery system for landslide monitoring in an unmanned area. Background Art

[0002] Landslides refer to the phenomenon that a part of the rock and soil on the mountain slope moves downward as a whole due to shear displacement along a certain weak structural surface under the action of gravity, including the gravity of the rock and soil itself and the dynamic and static pressure of groundwater. It is one of the common geological disasters. Landslide monitoring can be included in the relevant monitoring projects of geological disaster monitoring.

[0003] In the relevant technologies of landslide monitoring, it is usually implemented based on the placed Beidou terminal devices. Beidou terminal devices can be mainly divided into measuring terminals and non-measuring terminals. Measuring terminals are mainly used for high-precision measurement operations, such as static observation, RTK (Real-Time Kinematic) measurement, ground-based augmentation station measurement, etc., with the advantages of high positioning accuracy, but the disadvantages of large size, not resistant to falling, short standby time and relatively large weight; non-measuring terminals can include handheld terminals such as Beidou PDA terminals and mobile phones, which have the advantages of small size, light weight, long standby time and easy to carry, but low accuracy.

[0004] The conditions for monitoring geological disaster landslides are complex, especially in uninhabited areas. Traditional high-precision Beidou measurement terminals are difficult to reach and install and cannot be powered continuously. The accuracy of non-measurement terminals is difficult to meet the measurement accuracy requirements. For sloping terrain, the method of dropping terminals by drones can easily cause the dropped terminals to slip or damage the equipment. Summary of the invention

[0005] In view of the above problems, embodiments of the present invention are proposed to provide a terminal delivery method for landslide monitoring in uninhabited areas, a terminal delivery device for landslide monitoring in uninhabited areas, and a corresponding terminal delivery system for landslide monitoring in uninhabited areas, which overcome the above problems or at least partially solve the above problems.

[0006] The embodiment of the present invention discloses a terminal deployment method for landslide monitoring in an unmanned area, wherein the terminal is a pyramid measurement terminal, and a triangular plane in the pyramid measurement terminal has a groove. When the pyramid measurement terminal is connected to a drone, the groove contains a steel ball with a hanging line, and the groove forms a gap on the triangular plane. The method comprises:

[0007] When the UAV is hovering above the designated delivery location, controlling the pyramid measurement terminal to descend;

[0008] When the pyramid measurement terminal descends to the designated placement position, the steel ball slides out of the groove from the gap under the action of gravity, and the pyramid measurement terminal is placed at the designated placement position; the designated placement position is used to indicate the unmanned area monitoring point of the pyramid measurement terminal.

[0009] Optionally, a pod is installed on the main body of the UAV, and an electric-controlled rotating motor and a roller pulley group are installed in the pod, wherein the electric-controlled rotating motor is connected to the suspension line, the lower end of the pod is connected to the suspension line, and the suspension line is entangled with the electric-controlled rotating motor and the roller pulley group;

[0010] When the rotation of the electrically controlled rotating motor drives the pulley block to rotate, the rotation of the pulley block drives the suspension line connected to the lower end of the pod to extend or retract in the vertical direction.

[0011] Optionally, the roller pulley group and the electrically controlled rotating motor have the same weight, the end of the suspension line has the steel ball, the end outlet of the suspension line is located at the center point of the lower part of the pod, and the steel ball with the suspension line is hung below the pod via the end outlet.

[0012] Optionally, controlling the pyramid measurement terminal to descend includes:

[0013] Controlling the electrically controlled rotating motor to rotate, so that the rotating electrically controlled rotating motor drives the roller pulley group to rotate;

[0014] The suspension line is extended in the vertical direction by the rotation of the roller pulley set;

[0015] The pyramid measuring terminal is driven to descend by the extended suspension line.

[0016] Optionally, the upper width of the groove is greater than the diameter of the steel ball, and the lower width of the groove is greater than the upper width of the groove;

[0017] The interior of the groove is in a cylindrical shape, the upper width of the cylindrical shape is smaller than the lower width of the cylindrical shape, and the width of the cylindrical shape increases from top to bottom; the gap is in a trapezoidal shape, the upper width of the trapezoidal shape is smaller than the lower width of the trapezoidal shape, and the width of the trapezoidal shape increases from top to bottom.

[0018] Optionally, a crossbar block is provided on the upper portion of the groove, and when the pyramid measurement terminal is connected to the drone and is in a suspended state, the crossbar block is used to prevent the steel ball in the groove from moving upward;

[0019] When the pyramid measuring terminal descends to the designated placement position, the bottom of the pyramid measuring terminal is subjected to force, and the friction between the steel ball in the groove and the groove is smaller than the gravity of the steel ball, so the steel ball falls along the groove;

[0020] The step of sliding the steel ball out of the groove from the gap under the action of gravity to place the pyramid measurement terminal at the designated placement position includes:

[0021] The steel ball falls along the groove under the action of gravity and slides out of the groove from the gap, so that the pyramid measurement terminal is placed at the designated placement position.

[0022] Optionally, each triangular face of the pyramid measurement terminal is arranged with a photovoltaic panel and a receiving antenna, and after placing the pyramid measurement terminal at the designated placement position, the method further includes:

[0023] The monitoring data of the monitoring point in the uninhabited area is obtained through the photovoltaic panel and the receiving antenna of the pyramid measurement terminal.

[0024] The embodiment of the present invention further discloses a terminal delivery device for landslide monitoring in an unmanned area, which relates to a terminal delivery method as described in any one of the items, wherein the device comprises: an unmanned aerial vehicle body, a pyramid measurement terminal, and a suspension line for hanging the pyramid measurement terminal and the unmanned aerial vehicle body;

[0025] A certain triangular plane in the pyramid measurement terminal has a groove, and when the pyramid measurement terminal is hung with the drone, the groove contains a steel ball with a hanging line, and the groove forms a gap on the triangular plane;

[0026] When the pyramid measurement terminal descends to the designated placement position, the steel ball slides out of the groove from the gap due to gravity, and the pyramid measurement terminal is placed at the designated placement position; the designated placement position is used to indicate the unmanned area monitoring point of the pyramid measurement terminal.

[0027] Optionally, a pod is installed on the main body of the UAV, and an electric-controlled rotating motor and a roller pulley group are installed in the pod, wherein the electric-controlled rotating motor is connected to the suspension line, the lower end of the pod is connected to the suspension line, and the suspension line is entangled with the electric-controlled rotating motor and the roller pulley group;

[0028] When the rotation of the electrically controlled rotating motor drives the pulley block to rotate, the rotation of the pulley block drives the suspension line connected to the lower end of the pod to extend or retract in the vertical direction.

[0029] Optionally, the roller pulley group and the electrically controlled rotating motor have the same weight, the end of the suspension line has the steel ball, the end outlet of the suspension line is located at the center point of the lower part of the pod, and the steel ball with the suspension line is hung below the pod via the end outlet.

[0030] Optionally, the upper width of the groove is greater than the diameter of the steel ball, and the lower width of the groove is greater than the upper width of the groove;

[0031] The interior of the groove is in a cylindrical shape, the upper width of the cylindrical shape is smaller than the lower width of the cylindrical shape, and the width of the cylindrical shape increases from top to bottom; the gap is in a trapezoidal shape, the upper width of the trapezoidal shape is smaller than the lower width of the trapezoidal shape, and the width of the trapezoidal shape increases from top to bottom.

[0032] Optionally, a crossbar block is provided on the upper portion of the groove, and when the pyramid measurement terminal is connected to the drone and is in a suspended state, the crossbar block is used to prevent the steel ball in the groove from moving upward;

[0033] When the pyramid measuring terminal descends to the designated placement position, the bottom of the pyramid measuring terminal is subjected to force, and the friction between the steel ball in the groove and the groove is smaller than the gravity of the steel ball, so the steel ball falls along the groove.

[0034] Optionally, the pyramid measurement terminal includes a Beidou positioning terminal module, a communication module, and a solar power supply module; each triangular face of the pyramid measurement terminal is arranged with a photovoltaic panel and a receiving antenna.

[0035] Optionally, the receiving antennas are arranged at three corners of the triangular surface, and the photovoltaic panel is deployed in the middle part of the triangular surface;

[0036] And / or, the receiving antenna is arranged at the middle part of the triangular surface, and the photovoltaic panels are arranged at the three corners of the triangular surface.

[0037] The embodiment of the present invention further discloses a terminal delivery system for landslide monitoring in an unmanned area, the system comprising: an unmanned aerial vehicle, a control terminal for communicating with the unmanned aerial vehicle, and the terminal delivery device; wherein the terminal delivery device comprises a pyramid measurement terminal, a triangular plane in the pyramid measurement terminal has a groove, when the pyramid measurement terminal is connected to the unmanned aerial vehicle, the groove contains a steel ball with a hanging line, and the groove forms a gap on the triangular plane;

[0038] The control terminal is used to control the pyramid measurement terminal to descend when the UAV is hovering above the designated delivery position;

[0039] The control terminal is used to monitor the descent of the pyramid measurement terminal;

[0040] The terminal delivery device is used to deliver the pyramid measurement terminal to the designated delivery position when the pyramid measurement terminal descends to the designated delivery position, through the steel ball sliding out of the groove from the gap under the action of gravity; the designated delivery position is used to indicate the unmanned area monitoring point of the pyramid measurement terminal.

[0041] An embodiment of the present invention also discloses an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, any one of the terminal deployment methods for landslide monitoring in uninhabited areas is implemented.

[0042] The embodiment of the present invention further discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, any one of the terminal deployment methods for landslide monitoring in an unmanned area is implemented.

[0043] The embodiments of the present invention include the following advantages:

[0044] In an embodiment of the present invention, the terminal to be deployed may be a pyramid measurement terminal, and a triangular plane in the pyramid measurement terminal has a groove. When the pyramid measurement terminal is hung on a drone, the groove may contain a steel ball with a suspension line, and the groove forms a gap on the triangular plane. When the drone is hovering above a designated deployment position, the pyramid measurement terminal is controlled to descend, and when the pyramid measurement terminal descends to the designated deployment position, the steel ball slides out of the groove from the gap due to gravity, and the pyramid measurement terminal is deployed to the designated deployment position, so that the suspension line automatically falls off after the measurement terminal lands, and the pyramid measurement terminal is deployed to the designated deployment position, and then the deployable Beidou terminal is suspended under the drone to arrange monitoring points in the unmanned area. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural schematic diagram of an embodiment of a terminal delivery device for landslide monitoring in an unmanned area of ​​the present invention;

[0046] Figure 2 is a further structural schematic diagram of the terminal delivery device provided by an embodiment of the present invention;

[0047] Figure 3is a schematic diagram of the operation of an electronically controlled rotating motor provided by an embodiment of the present invention;

[0048] FIG. 4A to FIG. 4B is a schematic diagram of the structure of a groove on a pyramid measurement terminal provided by an embodiment of the present invention;

[0049] Figure 5 is a structural schematic diagram of a pyramid measurement terminal provided by an embodiment of the present invention;

[0050] Figure 6 is a schematic structural diagram of another pyramid measurement terminal provided by an embodiment of the present invention;

[0051] Figure 7 It is a flowchart of the steps of an embodiment of a terminal deployment method for landslide monitoring in an unmanned area;

[0052] Figure 8 It is a schematic diagram of the framework of an embodiment of a terminal delivery system for landslide monitoring in an unmanned area according to the present invention.

[0053] The reference numerals are as follows:

[0054] 10-UAV body; 11-pyramid measuring terminal; 111-groove; 112-gap; 113-solar panel; 114-receiving antenna; 12-suspension line; 13-pod; 131-electrically controlled rotating motor; 132-roller pulley group; 1321-hanging hole. DETAILED DESCRIPTION

[0055] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] The embodiment of the present invention realizes the automatic shedding of the suspension line after the measurement terminal lands, and delivers the pyramid measurement terminal to the designated delivery position, and then arranges the monitoring points in the unmanned area by hanging a deployable Beidou terminal under the drone. Specifically, by developing a terminal delivery device for landslide monitoring in unmanned areas, the aforementioned device can mainly be manifested as an automatic gravity cable release device for drone delivery, which realizes the automatic shedding of the suspension line after the measurement terminal lands, and delivers the pyramid measurement terminal to the designated delivery position to solve the problem that the drone delivery equipment cannot achieve low-speed landing, effectively ensure the integrity of the delivered measurement terminal, and solve the problem that the drone wire delivery rope cannot automatically fall off, and realize automatic shedding by the self-gravity of the steel ball, and the designed device has a simple structure, and is not prone to the problem of rope stuck and unable to fall off. In addition, a Beidou terminal for delivery is proposed. The terminal can be used for various deformation monitoring in unmanned areas. The terminal is designed to be in the shape of a pyramid, and any pyramid face is designed the same, which are receiving antennas and photovoltaic panels, so that no matter how the cone lands, there are always three faces that can receive sunlight, and while ensuring that long-term power supply can be provided, it can ensure that the signal can be received; and in the structural design of the pyramid, each face is an equilateral triangle, with high structural strength, and is not easily damaged by wild animals, etc., that is, it can effectively ensure the stability of the equipment structure while greatly improving the equipment's ability to receive sunlight and signal reception. Furthermore, by proposing a variety of pyramid designs, it is suitable for deployment in different types of unmanned areas as much as possible, effectively ensuring communication capabilities and power supply continuity. Optionally, on the basis of the embodiments of the present invention, through later technical improvements, a solution can be achieved in which a single machine carries multiple devices at a time for delivery, effectively improving delivery efficiency.

[0057] Reference Figure 1 , showing a schematic structural diagram of an embodiment of a terminal delivery device for landslide monitoring in an unmanned area of ​​the present invention, the terminal delivery device can mainly be manifested as an automatic gravity release device for delivery by a drone.

[0058] like Figure 1 As shown, the device may include a drone body 10 , a pyramid measurement terminal 11 , and a suspension line 12 for hanging the pyramid measurement terminal 11 and the drone body 10 .

[0059] The pyramid measurement terminal 11 may refer to a Beidou measurement terminal with a pyramid structure. A certain triangular plane in the pyramid measurement terminal 11 has a groove. When the pyramid measurement terminal 11 is hung with the drone 10, the groove contains a steel ball with a suspension line 12, and the groove forms a gap on the triangular plane.

[0060] In an embodiment of the present invention, when the pyramid measurement terminal 11 descends to the designated delivery position, the steel ball can slide out of the groove from the gap due to gravity, and the pyramid measurement terminal 11 is delivered to the designated delivery position, and then the monitoring points in the unmanned area are arranged by hanging the deployable Beidou terminal under the drone 10.

[0061] In some embodiments of the present invention, Figure 1 As shown, a pod 13 may also be installed on the drone body 10. Figure 2 As shown, an electrically controlled rotating motor 131 and a roller pulley set 132 may be installed in the pod 13, wherein a suspension line 12 is connected to the electrically controlled rotating motor 131, and the lower end of the pod 13 is connected to the suspension line 12, and the suspension line 12 is entangled with the electrically controlled rotating motor 131 and the roller pulley set 132.

[0062] Specifically, Figure 3 As shown, when the electric control rotating motor 131 rotates and drives the roller pulley group 132 to rotate, the rotation of the roller pulley group 132 drives the suspension line 12 connected to the lower end of the pod 13 to extend or retract in the vertical direction. In a specific implementation, the roller pulley group 132 may include two roller pulleys, the electric control rotating motor 131 may be powered by a drone battery, and the rotating motor is connected to the suspension line 12. The suspension line 12 may be extended around the two roller pulleys by the traction of the rotating motor 131, thereby achieving the descent of the object hung on the suspension line. Among them, one of the roller pulleys in the roller pulley group has a hanging hole 1321.

[0063] It should be noted that the weight of the roller pulley set 132 and the electric control rotating motor 131 are the same, that is, Figure 3 As shown, the counterweight of the roller pulley set 132 on the right is consistent with the counterweight of the electric-controlled rotating motor 131 on the left, and a steel ball is provided at the end of the suspension line 12. The end outlet of the suspension line 12 can be located at the center point of the lower part of the pod 13. At this time, based on the consistent counterweight at the lower part of the pod 13, the steel ball with the suspension line 12 can be hung below the pod 13 through the end outlet in a natural state.

[0064] In some embodiments of the present invention, the upper width of the groove may be greater than the diameter of the steel ball, and the lower width of the groove may be greater than the upper width of the groove. The interior of the groove is cylindrical, the upper width of the cylindrical shape is smaller than the lower width of the cylindrical shape, and the width of the cylindrical shape increases from top to bottom; the gap is trapezoidal, the upper width of the trapezoidal shape is smaller than the lower width of the trapezoidal shape, and the width of the trapezoidal shape increases from top to bottom.

[0065] Optionally, a cross bar block is provided at the upper portion of the groove, and when the pyramid measurement terminal is connected to the drone and is in a suspended state, the cross bar block is used to prevent the steel ball in the groove from moving upward.

[0066] Optionally, when the pyramid measuring terminal descends to the designated delivery position, the bottom of the pyramid measuring terminal is subjected to force, and the friction between the steel ball in the groove and the groove is less than the gravity of the steel ball. The steel ball falls along the groove, so that the steel ball falls along the groove under the action of gravity and slides out of the groove through the gap, thereby delivering the pyramid measuring terminal to the designated delivery position.

[0067] Reference FIG. 4A to FIG. 4B , showing a schematic diagram of the structure of the groove on the pyramid measurement terminal provided in an embodiment of the present invention.

[0068] One of the triangular planes of the pyramid measurement terminal 11 may have an indented groove 111, such as Figure 4A and Figure 4B As shown, the groove 111 may be in the shape of a cylinder with a narrow top and a gradually wide bottom inside, and may form a trapezoidal gap 112 with a narrow top and a gradually wide bottom on a triangular plane.

[0069] The interior of the groove 111 is smooth. For example, a rounded crossbar can be provided on the upper part of the groove 111 to catch the steel ball and prevent it from going up, so that the suspension rope cannot fall off automatically. When the pyramid measurement terminal descends to the designated placement position, the bottom of the pyramid measurement terminal is stressed, and the interception effect of the crossbar may be overcome, that is, the friction between the steel ball in the groove 111 and the groove is less than the gravity of the steel ball, so that the steel ball can fall along the groove 111. At this time, the above-mentioned gap 112 can be used as a groove path for the automatic shedding of the suspension line. Specifically, the smooth, round steel ball with the suspension line contained therein can slide out smoothly along the aforementioned groove path, thereby realizing the automatic shedding of the suspension line, so that the pyramid measurement terminal can be placed at the designated placement position. In addition, the structure of the groove 111 is designed to be wide at the bottom and narrow at the top, and it changes linearly from bottom to top, and the inner groove surface is smooth and circular in shape, which can ensure that no matter what the final landing state of the pyramid is, as long as the bottom is stressed, even if it is in an inclined state, the steel ball can fall smoothly.

[0070] Optionally, the diameter of the steel ball can be smaller than the width of the uppermost end of the groove to prevent the steel ball from being in too tight contact with the groove, so that the steel ball is always in an active state, ensuring that there is enough gap between the steel ball and the groove to avoid the problem of the rope being stuck and unable to fall off.

[0071] In an embodiment of the present invention, the pyramid measurement terminal provided may include a Beidou positioning terminal module, a communication module, and a solar power supply module, wherein each triangular face of the pyramid measurement terminal is arranged with a solar panel (also referred to as a solar panel or photovoltaic panel) 113 and a receiving antenna 114. The Beidou delivery terminal is designed in a pyramid shape to ensure structural stability, better fit the ground, and prevent it from being blown down by the wind; and after any one side touches the ground, it can ensure that at least three sides of the receiving antenna and solar panel are facing upwards, ensuring good signals and ensuring that the three sides can receive sunlight, thereby ensuring that the photovoltaic panels can work normally. Among them, the photovoltaic panel is the solar panel.

[0072] As an example, Figure 5 As shown, in a structural design of a pyramid measurement terminal, the same solar panels 113 and receiving antennas (such as GNSS antennas) 114 can be arranged on four faces, and the receiving antennas 114 can be arranged at the three corners of the triangular faces, and the photovoltaic panels 113 are deployed in the middle part of the triangular faces. This pyramid measurement terminal can be suitable for deployment under conditions of partial obstruction and poor signal.

[0073] As another example, Figure 6 As shown, in another structural design of a pyramid measurement terminal, the same solar panels 113 and receiving antennas (such as GNSS antennas) 114 can be arranged on four faces, the receiving antenna 114 can be arranged in the middle part of the triangular face, and photovoltaic panels 113 can be arranged at the three corners of the triangular face. This pyramid measurement terminal can be suitable for deployment under conditions with better signals.

[0074] It should be noted that the pyramid measurement terminal can be a triangular pyramid, a pentagonal pyramid, a hexagonal pyramid, etc. The selected pyramid measurement terminals with different numbers of pyramid faces are designed accordingly according to the above-mentioned structure to obtain the pyramid measurement terminal proposed in the embodiment of the present invention for being deployed in uninhabited areas for landslide monitoring. The embodiment of the present invention does not impose any restrictions on this.

[0075] Preferably, the terminal delivery device can simultaneously hang multiple measurement terminals at a time to deliver multiple measurement terminals, so as to effectively improve the delivery efficiency.

[0076] Reference Figure 7 , showing a flow chart of the steps of an embodiment of a terminal deployment method for landslide monitoring in an unmanned area of ​​the present invention, involving such Figure 1 The terminal delivery device for landslide monitoring in unmanned areas shown in the figure may specifically include the following steps:

[0077] Step S701, when the UAV is hovering above the designated delivery location, the pyramid measurement terminal is controlled to descend;

[0078] In practical applications, first of all, it is necessary to check whether the drone and the suspended measurement terminal are installed correctly, whether the drone has sufficient power and is ready for take-off, whether the Beidou terminal communication and power supply are working properly, and whether the route planning for the delivery location has been carried out. After the above conditions are met, the control terminal that communicates with the drone can be used to control the drone to fly according to the planned route; after arriving at the designated delivery location, the drone can be wirelessly controlled to slowly lower its flight altitude. When the drone descends to about 5m from the ground, the drone can be stopped from descending to keep the drone in a suspended posture above the designated delivery location.

[0079] For route planning, for example, after checking that the drone and the supporting laser scanner are in normal status and meet the conditions for aircraft takeoff, the laser scanner carried by the drone can be used to pre-scan the delivery range. During the pre-scan, it is important to be at least 200m higher than the highest point in the delivery range to avoid touching high-voltage lines, etc. The pre-scan data can then be imported into the route planning software for processing to generate the delivery range. At this time, the route planning software can automatically generate a planned path based on the delivery range; the high-resolution measurement camera carried by the drone can be used to capture images according to the planned path to generate a high-definition DOM (High-Definition Digital Orthophoto Map, which is a high-resolution digital orthophoto map). At this time, a designated delivery location can be selected on the high-definition DOM. For example, the designated delivery location can be manually marked on the planning software to obtain the flight route planning of the drone. The drone can carry out automatic route flight according to the manually marked flight route to deliver the measurement terminal at the designated delivery location.

[0080] When the UAV is hovering above the designated drop location, the pyramid measurement terminal can be controlled to descend.

[0081] Specifically, a pod is installed on the main body of the drone, and an electric-controlled rotating motor and a roller pulley group are installed in the pod, wherein a suspension line is connected to the electric-controlled rotating motor, and the lower end of the pod is connected to the suspension line, and the suspension line is entangled with the electric-controlled rotating motor and the roller pulley group; when the electric-controlled rotating motor drives the roller pulley group to rotate, the suspension line connected to the lower end of the pod is extended or retracted in the vertical direction through the rotation of the roller pulley group. Preferably, the roller pulley group and the electric-controlled rotating motor have the same weight, and the end of the suspension line has a steel ball, and the end outlet of the suspension line is located at the center point of the lower part of the pod, and the steel ball with the suspension line is hung below the pod through the end outlet.

[0082] When controlling the pyramid measurement terminal to descend, it can be mainly controlled by rotating the electric-controlled rotary motor, which drives the pulley group to rotate, and then the rotation of the pulley group drives the suspension line to extend in the vertical direction, and the extended suspension line drives the pyramid measurement terminal to descend. For example, the operation of the rotary motor can be controlled remotely through the control terminal, and when the rotary motor rotates, the suspension line can slowly descend by bypassing the two pulley groups, and the Beidou measurement terminal at the bottom of the rotary rope can descend according to the remote setting program.

[0083] Optionally, the descent speed can be controlled remotely or the descent can be stopped urgently. For example, the drone can plan a route according to the specified route, carry the Beidou delivery terminal and fly to a designated point about 5-8m above the designated point to hover; the control terminal can send instructions according to the pre-designed rotating motor program, so that the rotating motor starts according to the preset instructions and slowly releases the rope, and the control terminal can fine-tune the release speed; at this time, the micro non-measuring camera carried on the lower part of the drone is used to observe and judge the landing status of the Beidou terminal. For example, in good rainy weather, no wind and clear vision, the control terminal can adjust the descent speed to the fastest to speed up efficiency; if there is a sudden strong wind or other situation during the descent that causes unclear vision, the control terminal can stop the descent urgently, and can remotely control the rotating motor to ascend the rope, and then control the drone to return along the original route to ensure the safety of the drone and the Beidou terminal.

[0084] In the process of controlling the pyramid measurement terminal to descend, the descent of the pyramid measurement terminal can be monitored. Specifically, the drone can monitor the descent of the Beidou terminal in real time through a remote camera.

[0085] Step S702, when the pyramid measuring terminal descends to the designated placement position, the steel ball slides out of the groove from the gap due to the action of gravity, and the pyramid measuring terminal is placed at the designated placement position.

[0086] When the pyramid measurement terminal descends to the designated delivery position, it means that the Beidou measurement terminal has landed. At this time, the steel ball can slide out of the groove from the gap under the action of gravity, so that the hanging rope can automatically fall off, and the pyramid measurement terminal can be delivered to the designated delivery position. Then, by hanging the deployable Beidou terminal under the drone, the monitoring points in the unmanned area can be arranged.

[0087] Specifically, the upper width of the groove is greater than the diameter of the steel ball, and the lower width of the groove is greater than the upper width of the groove; the interior of the groove is cylindrical, the upper width of the cylindrical shape is smaller than the lower width of the cylindrical shape, and the width of the cylindrical shape increases from top to bottom; the gap is trapezoidal, the upper width of the trapezoidal shape is smaller than the lower width of the trapezoidal shape, and the width of the trapezoidal shape increases from top to bottom.

[0088] Optionally, the upper part of the groove has a crossbar interception. When the pyramid measurement terminal is connected to the drone and is in a suspended state, the crossbar interception is used to prevent the steel ball in the groove from moving upward; when the pyramid measurement terminal is dropped to the designated delivery position, the bottom of the pyramid measurement terminal is subjected to force, and the friction between the steel ball in the groove and the groove is less than the gravity of the steel ball, and the steel ball falls along the groove. That is, the steel ball under the action of gravity can fall along the groove and slide out of the groove from the gap, so that the pyramid measurement terminal can be dropped to the designated delivery position. Exemplarily, when the measurement terminal drops to the designated position and contacts the ground, the steel ball in the groove of the measurement terminal will fall in the groove due to the action of gravity to slide out of the groove. The upper part of the groove is larger than the diameter of the steel ball, which can ensure that when the measurement terminal is in a suspended state, there is a certain gap distance between the steel ball and the peripheral edge of the inner side of the uppermost part of the groove to ensure that the steel ball will not be stuck; the diameter of the lower part of the groove is larger than the upper part, and is much larger than the diameter of the steel ball. The suspension line carried by the steel ball can slide out of the groove surface with the steel ball, thereby realizing the automatic detachment of the suspension line.

[0089] Optionally, the UAV can return to the designated supply location according to the planned route, and connect other measurement terminals to the UAV body at the designated supply location, and then deliver corresponding measurement terminals to other designated delivery locations until there are delivered measurement terminals at the monitoring points arranged in the uninhabited area to be monitored.

[0090] In one embodiment of the present invention, each triangular face of the pyramid measurement terminal is arranged with a photovoltaic panel and a receiving antenna, so that the terminal can receive signals and sunlight no matter which face contacts the ground. The designated placement position is used to indicate the monitoring point in the unmanned area. After the pyramid measurement terminal is placed at the designated placement position, the monitoring data of the detection point in the unmanned area can also be obtained through the photovoltaic panel and the receiving antenna of the pyramid measurement terminal.

[0091] It should be noted that the embodiments of the present invention do not limit the specific steps of drone path planning, remote control, command sending, and internal rotating motor lifting rope.

[0092] In an embodiment of the present invention, the terminal to be deployed may be a pyramid measurement terminal, and a triangular plane in the pyramid measurement terminal has a groove. When the pyramid measurement terminal is hung on a drone, the groove may contain a steel ball with a suspension line, and the groove forms a gap on the triangular plane. When the drone is hovering above a designated deployment position, the pyramid measurement terminal is controlled to descend, and when the pyramid measurement terminal descends to the designated deployment position, the steel ball slides out of the groove from the gap due to gravity, and the pyramid measurement terminal is deployed to the designated deployment position, so that the suspension line automatically falls off after the measurement terminal lands, and the pyramid measurement terminal is deployed to the designated deployment position, and then the deployable Beidou terminal is suspended under the drone to arrange monitoring points in the unmanned area.

[0093] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0094] Reference Figure 8 , shows a schematic diagram of a terminal delivery system for landslide monitoring in unmanned areas according to an embodiment of the present invention. The terminal delivery system 810 for landslide monitoring in unmanned areas may include a drone 81, a control terminal 82 for communicating with the drone, and Figure 1 The terminal delivery device 83 is shown.

[0095] Among them, the terminal delivery device may include a pyramid measuring terminal, and a triangular plane in the pyramid measuring terminal has a groove. When the pyramid measuring terminal is hung on the drone, the groove contains a steel ball with a hanging line, and the groove forms a gap on the triangular plane.

[0096] In a specific implementation, the control terminal can be used to control the descent of the pyramid measurement terminal and monitor the descent of the pyramid measurement terminal when the UAV is hovering above the designated delivery position; the terminal delivery device can be used to deliver the pyramid measurement terminal to the designated delivery position by causing the steel ball to slide out of the groove from the gap under the action of gravity when the pyramid measurement terminal descends to the designated delivery position, and then suspending the deployable Beidou terminal under the UAV to arrange monitoring points in the unmanned area.

[0097] In an embodiment of the present invention, the pyramid measurement terminal is deployed to a designated deployment position by automatically dropping the suspension line after the measurement terminal lands, and then the deployment of monitoring points in the unmanned area is performed by hanging a deployable Beidou terminal under the drone. Specifically, by developing a terminal delivery device for landslide monitoring in unmanned areas, the aforementioned device can mainly be expressed as an automatic gravity cable release device for drone delivery, which can automatically drop the suspension line after the measurement terminal lands, and deliver the pyramid measurement terminal to a designated delivery position to solve the problem that the drone delivery equipment cannot land at a low speed, effectively ensure the integrity of the delivered measurement terminal, and solve the problem that the drone wire delivery rope cannot automatically drop, and achieve automatic dropping by the self-gravity of the steel ball, and the designed device has a simple structure, and is not prone to the problem of rope stuck and unable to drop. In addition, a Beidou terminal for delivery is proposed. The terminal can be used for various deformation monitoring in unmanned areas. The terminal is designed to be in the shape of a pyramid, and any pyramid face is designed the same, which are receiving antennas and photovoltaic panels, so that no matter how the cone lands, there are always three faces that can receive sunlight, and while ensuring that long-term power supply can be provided, it can ensure that the signal can be received; and in the structural design of the pyramid, each face is an equilateral triangle, with high structural strength, and is not easily damaged by wild animals, etc., that is, it can effectively ensure the stability of the equipment structure while greatly improving the equipment's ability to receive sunlight and signal reception. Furthermore, by proposing a variety of pyramid designs, it is suitable for deployment in different types of unmanned areas as much as possible, effectively ensuring communication capabilities and power supply continuity. Optionally, on the basis of the embodiments of the present invention, through later technical improvements, a solution can be achieved in which a single machine carries multiple devices at a time for delivery, effectively improving delivery efficiency.

[0098] An embodiment of the present invention further provides an electronic device, including:

[0099] It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned terminal deployment method embodiment for landslide monitoring in uninhabited areas are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0100] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned terminal deployment method embodiment for landslide monitoring in uninhabited areas are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0101] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0102] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0103] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0104] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0105] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0106] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0107] Finally, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0108] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0109] The terminal delivery method for landslide monitoring in uninhabited areas, the terminal delivery device for landslide monitoring in uninhabited areas and the corresponding terminal delivery system for landslide monitoring in uninhabited areas provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A terminal deployment method for landslide monitoring in uninhabited areas, characterized in that: The terminal is a pyramid measurement terminal, and a triangular plane in the pyramid measurement terminal has a groove. When the pyramid measurement terminal is connected to the drone, the groove contains a steel ball with a hanging line, and the groove forms a gap on the triangular plane. The method includes: When the UAV is hovering above the designated delivery location, controlling the pyramid measurement terminal to descend; When the pyramid measurement terminal descends to the designated placement position, the steel ball slides out of the groove from the gap under the action of gravity, and the pyramid measurement terminal is placed at the designated placement position; the designated placement position is used to indicate the unmanned area monitoring point of the pyramid measurement terminal.

2. The terminal delivery method according to claim 1, characterized in that: The drone body is provided with a pod, and an electric-controlled rotating motor and a roller pulley group are provided in the pod, wherein the electric-controlled rotating motor is connected with the suspension line, and the lower end of the pod is connected with the suspension line, and the suspension line is entangled with the electric-controlled rotating motor and the roller pulley group; When the rotation of the electrically controlled rotating motor drives the pulley block to rotate, the rotation of the pulley block drives the suspension line connected to the lower end of the pod to extend or retract in the vertical direction.

3. The terminal delivery method according to claim 2, characterized in that: The roller pulley set and the electrically controlled rotating motor have the same weight, the end of the suspension line has the steel ball, the end outlet of the suspension line is located at the center point of the lower part of the pod, and the steel ball with the suspension line is hung below the pod via the end outlet.

4. The terminal delivery method according to claim 2, characterized in that: The step of controlling the pyramid measurement terminal to descend comprises: Controlling the electrically controlled rotating motor to rotate, so that the rotating electrically controlled rotating motor drives the roller pulley group to rotate; The rotation of the roller pulley group drives the suspension line to extend in the vertical direction; The pyramid measuring terminal is driven to descend by the extended suspension line.

5. The terminal delivery method according to claim 1, characterized in that: The upper width of the groove is greater than the diameter of the steel ball, and the lower width of the groove is greater than the upper width of the groove; The interior of the groove is in a cylindrical shape, the upper width of the cylindrical shape is smaller than the lower width of the cylindrical shape, and the width of the cylindrical shape increases from top to bottom; the gap is in a trapezoidal shape, the upper width of the trapezoidal shape is smaller than the lower width of the trapezoidal shape, and the width of the trapezoidal shape increases from top to bottom.

6. The terminal delivery method according to claim 5, characterized in that: The upper part of the groove is provided with a crossbar block, and when the pyramid measurement terminal is connected to the drone and is in a suspended state, the crossbar block is used to prevent the steel ball located in the groove from moving upward; When the pyramid measuring terminal descends to the designated placement position, the bottom of the pyramid measuring terminal is subjected to force, and the friction between the steel ball in the groove and the groove is smaller than the gravity of the steel ball, so the steel ball falls along the groove; The step of sliding the steel ball out of the groove from the gap under the action of gravity to place the pyramid measurement terminal at the designated placement position includes: The steel ball falls along the groove under the action of gravity and slides out of the groove from the gap, so that the pyramid measurement terminal is placed at the designated placement position.

7. The terminal delivery method according to claim 1 or 6, characterized in that: Each triangular face of the pyramid measurement terminal is arranged with a photovoltaic panel and a receiving antenna; After placing the pyramid measurement terminal at the designated placement location, the method further includes: The monitoring data of the monitoring point in the uninhabited area is obtained through the photovoltaic panel and the receiving antenna of the pyramid measurement terminal.

8. A terminal delivery device for landslide monitoring in unmanned areas, characterized in that: The terminal delivery method according to any one of claims 1 to 7, wherein the device comprises: a drone body, a pyramid measurement terminal, and a suspension line for hanging the pyramid measurement terminal and the drone body; A certain triangular plane in the pyramid measurement terminal has a groove, and when the pyramid measurement terminal is hung with the drone, the groove contains a steel ball with a hanging line, and the groove forms a gap on the triangular plane; When the pyramid measurement terminal descends to the designated placement position, the steel ball slides out of the groove from the gap due to gravity, and the pyramid measurement terminal is placed at the designated placement position; the designated placement position is used to indicate the unmanned area monitoring point of the pyramid measurement terminal.

9. The terminal delivery device according to claim 8, characterized in that: The drone body is provided with a pod, and an electric-controlled rotating motor and a roller pulley group are provided in the pod, wherein the electric-controlled rotating motor is connected with the suspension line, and the lower end of the pod is connected with the suspension line, and the suspension line is entangled with the electric-controlled rotating motor and the roller pulley group; When the rotation of the electrically controlled rotating motor drives the pulley block to rotate, the rotation of the pulley block drives the suspension line connected to the lower end of the pod to extend or retract in the vertical direction.

10. The terminal delivery device according to claim 9, characterized in that: The roller pulley set and the electrically controlled rotating motor have the same weight, the end of the suspension line has the steel ball, the end outlet of the suspension line is located at the center point of the lower part of the pod, and the steel ball with the suspension line is hung below the pod via the end outlet.

11. The terminal delivery device according to claim 8, characterized in that: The upper width of the groove is greater than the diameter of the steel ball, and the lower width of the groove is greater than the upper width of the groove; The interior of the groove is in a cylindrical shape, the upper width of the cylindrical shape is smaller than the lower width of the cylindrical shape, and the width of the cylindrical shape increases from top to bottom; the gap is in a trapezoidal shape, the upper width of the trapezoidal shape is smaller than the lower width of the trapezoidal shape, and the width of the trapezoidal shape increases from top to bottom.

12. The terminal delivery device according to claim 11, characterized in that: The upper part of the groove is provided with a crossbar block, and when the pyramid measurement terminal is connected to the drone and is in a suspended state, the crossbar block is used to prevent the steel ball located in the groove from moving upward; When the pyramid measuring terminal descends to the designated placement position, the bottom of the pyramid measuring terminal is subjected to force, and the friction between the steel ball in the groove and the groove is smaller than the gravity of the steel ball, so the steel ball falls along the groove.

13. The terminal delivery device according to claim 8, characterized in that: The pyramid measurement terminal includes a Beidou positioning terminal module, a communication module, and a solar power supply module; each triangular face of the pyramid measurement terminal is arranged with a photovoltaic panel and a receiving antenna.

14. The terminal delivery device according to claim 13, characterized in that: The receiving antennas are arranged at the three corners of the triangular surface, and the photovoltaic panel is deployed in the middle part of the triangular surface; And / or, the receiving antenna is arranged at the middle part of the triangular surface, and the photovoltaic panels are arranged at the three corners of the triangular surface.

15. A terminal delivery system for landslide monitoring in uninhabited areas, characterized in that: The system comprises: a drone, a control terminal for communicating with the drone, and a terminal delivery device according to claim 8; wherein the terminal delivery device comprises a pyramid measuring terminal, a triangular plane in the pyramid measuring terminal has a groove, when the pyramid measuring terminal is hung with the drone, the groove contains a steel ball with a hanging line, and the groove forms a gap on the triangular plane; The control terminal is used to control the pyramid measurement terminal to descend when the UAV is hovering above the designated delivery position; The control terminal is used to monitor the descent of the pyramid measurement terminal; The terminal delivery device is used to deliver the pyramid measurement terminal to the designated delivery position when the pyramid measurement terminal descends to the designated delivery position, through the steel ball sliding out of the groove from the gap under the action of gravity; the designated delivery position is used to indicate the unmanned area monitoring point of the pyramid measurement terminal.

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