An unmanned aerial vehicle air-to-ground precision projection device based on dam inspection

Abstract

The application discloses a kind of unmanned aerial vehicle air-to-ground precision projection device based on dam inspection, belong to unmanned aerial vehicle mounting equipment technical field.Installation module is used to detachably fix the entire device to the bottom of unmanned aerial vehicle body;Storage module is connected with installation module, for storing material to be projected;Vector emission module is connected with installation module, and is connected with the discharge end of storage module, for receiving the material delivered by storage module, and controlling the emission vector of material;Trajectory solution module is respectively connected with vector emission module and the flight control system of unmanned aerial vehicle, for solving emission parameter according to real-time pose information, target position information and environmental parameter of unmanned aerial vehicle, and controlling the vector emission module executes projection.The present application solves the defects of existing device mounting inconvenience, storage confusion, large projection error, etc., can be widely used in emergency identification, medicament delivery or marker laying in dam inspection, improve the efficiency and accuracy of inspection.

Description

Technical Field

[0001] This application relates to the field of drone mounting equipment technology, and in particular to a drone air-to-ground precision projection device for dam inspection. Background Technology

[0002] As the core facility of water conservancy projects, the safe and stable operation of reservoir dams is directly related to the safety of life and property of people downstream and regional economic development. Therefore, it is crucial to conduct regular dam inspections. With the rapid development of drone technology, drones, with their advantages of flexibility, efficiency, and safety, have been widely used in the field of dam inspection, and can quickly detect safety hazards such as seepage points, cracks, slope defects, and floating objects on the water surface.

[0003] During dam inspections, when drones detect the aforementioned safety hazards, it is necessary to promptly project fluorescent markers, emergency floats, soil stabilizers, and other materials onto the hazard locations to achieve accurate hazard marking, emergency response, or subsequent investigation and location. However, dam areas are typically located in canyon zones, where the terrain is affected by frequent and variable gusts of wind. Furthermore, the projected targets are often located on the curved dam surface, slopes, or water surface, resulting in dispersed target locations that are highly susceptible to environmental interference.

[0004] Currently, most existing drone projection devices adopt a simple vertical throwing method, which has many drawbacks: First, the mounting method is fixed and cannot be disassembled, resulting in poor versatility. Different drone models require dedicated projection devices, increasing inspection costs. Second, the storage structure is simple, making it impossible to classify and store different types and specifications of materials. Furthermore, the feeding process is prone to jamming and inaccurate feeding, affecting projection efficiency. Third, the launching mechanism lacks effective vector adjustment capabilities and cannot adjust the launch angle according to environmental parameters. The projected object is affected by wind force and descent time, resulting in a landing point error of several meters, failing to meet the core requirement of accurate marking. Fourth, the trajectory calculation is not comprehensive enough, only obtaining simple distance information without fully integrating key parameters such as wind field and drone attitude, resulting in low calculation accuracy and further exacerbating projection errors. Fifth, the launching mechanism lacks an effective shock absorption structure, allowing vibrations during drone flight to be transmitted to the launching components, affecting launch stability and projection accuracy. Summary of the Invention

[0005] This invention addresses the aforementioned problems in existing technologies by providing a drone-based air-to-ground precision projection device for dam inspection.

[0006] The objective of this invention is primarily achieved through the following approach:

[0007] A precision air-to-ground delivery device for dam inspection, mounted on the bottom of the drone fuselage, includes:

[0008] The mounting module is used to detachably secure the entire device to the bottom of the drone fuselage;

[0009] A material storage module, connected to the installation module, is used to store the material to be projected;

[0010] The vector emission module is connected to the installation module and to the discharge end of the storage module. It is used to receive the material conveyed by the storage module and control the emission vector of the material.

[0011] The ballistic calculation module is communicatively connected to the vector launch module and the UAV's flight control system, respectively. It is used to calculate the launch parameters based on the UAV's real-time pose information, target position information, and environmental parameters, and to control the vector launch module to perform the projection.

[0012] Preferably, the installation module includes:

[0013] The mounting plate has its upper surface detachably and securely connected to the bottom of the drone fuselage.

[0014] The mounting unit includes two horizontally arranged mounting guide rods at the front and rear. The mounting plate is fixedly installed between the two mounting guide rods, and each of the two mounting guide rods has a downwardly inclined support rod installed in the middle. The two support rods have an "eight" shaped structure.

[0015] Preferably, the mounting plate has several mounting holes, which are detachably fixed to the drone body by bolts passing through the mounting holes. The mounting plate is made of aluminum alloy or carbon fiber and has a thickness of 5-12mm.

[0016] Preferably, the mounting plate has symmetrically installed fixing sleeves on both the front and rear sides of its lower surface. The mounting guide rod passes through the through hole in the middle of the fixing sleeve and is fixed in the fixing sleeve by locking bolts.

[0017] Preferably, the storage module includes:

[0018] Storage bins are used to hold materials to be delivered.

[0019] The feeding mechanism, used to quantitatively deliver materials to the vector launch module, includes a first telescopic component and a second telescopic component.

[0020] Preferably, the storage silo is provided with a longitudinal partition, which divides the storage silo into a material compartment and a motor compartment;

[0021] The material chamber is provided with multiple horizontal partitions. Dividing slots for storing materials to be projected are formed between adjacent horizontal partitions and between the inner wall of the material chamber and adjacent horizontal partitions. The motor chamber is provided with multiple first telescopic components that correspond one-to-one with the dividing slots. The telescopic end of the first telescopic component passes through the longitudinal partition and is fixedly connected to a push plate. The lower part of the material chamber away from the first telescopic component is provided with a discharge port. Each dividing slot is provided with a baffle controlled by a second telescopic component at the discharge port.

[0022] Preferably, the upper surface of the storage bin is provided with a first mounting rod, the top of the first mounting rod is provided with a slot adapted to the mounting guide rod, and the inner wall of the slot is provided with an anti-slip layer.

[0023] Preferably, the vector transmission module includes:

[0024] Launch tube;

[0025] A vector adjustment mechanism, connected to the launch tube, is used to drive the launch tube to rotate in the pitch and yaw directions to adjust the launch angle;

[0026] Launch power source, used to provide initial launch velocity for materials.

[0027] Preferably, the launching tube has openings on both the left and right sides, and a launching power source is installed at the end of the launching tube facing the storage module;

[0028] The launching tube has a feed inlet on the upper part of the side near the launching power source, and the feed inlet is connected to the discharge outlet through a flexible pipe;

[0029] The vector adjustment mechanism includes a second mounting rod, an upper mounting plate, a shock absorber, a lower mounting plate, a first L-shaped connecting rod, a first motor, a second L-shaped connecting rod, a second motor, and a mounting base. The second mounting rod is mounted on the upper surface of the upper mounting plate. The top of the second mounting rod has a slot adapted to the mounting guide rod. The inner wall of the slot has an anti-slip layer. The upper mounting plate and the lower mounting plate are connected by a shock absorber. One end of the first L-shaped connecting rod is fixedly connected to the lower surface of the lower mounting plate. The first motor is mounted on the other end of the first L-shaped connecting rod. The output end of the first motor is fixedly connected to one end of the second L-shaped connecting rod. The other end of the second L-shaped connecting rod is fixedly connected to a second motor. The output end of the second motor is fixedly connected to one end of the mounting base. The launching tube is detachably and fixedly mounted on the mounting base.

[0030] Preferably, the ballistic calculation module includes:

[0031] The sensor group is used to acquire the raw data required for the calculation. It includes at least a laser rangefinder and a wind speed and direction sensor. The laser rangefinder is used to measure the precise straight-line distance and elevation difference between the UAV and the target point. The wind speed and direction sensor is used to collect wind field data at the location of the UAV in real time.

[0032] The microprocessor is connected to the sensor group, vector launch module, material storage module and UAV flight control communication, and is used to calculate the optimal launch pitch angle and yaw angle required by the vector launch module based on the aerodynamic model of the projected object, by fusing the distance, elevation difference and wind field data, and to generate control commands.

[0033] In summary, compared with the prior art, the present invention has the following beneficial technical effects:

[0034] (1) The present invention is easy to mount and highly versatile. The mounting module adopts a detachable design and is connected to the UAV fuselage by bolts through the mounting holes of the mounting plate, so as to realize the quick assembly and disassembly of the device. At the same time, the storage module and the vector launch module are connected to the mounting guide rod through the slot, which has a high degree of modularity. According to the mounting requirements of different UAV models, the matching position of the mounting hole and the length of the mounting guide rod can be adjusted to adapt to multiple UAV models. There is no need to equip different UAVs with special projection devices, which greatly reduces the inspection cost and solves the technical defects of poor versatility of the existing device.

[0035] (2) The present invention has orderly storage and precise feeding. The storage bin is divided into multiple independent compartments by longitudinal and transverse partitions, which can realize the classified storage of different types and specifications of materials and avoid mixing. The feeding mechanism adopts the coordinated control of the first telescopic component and the second telescopic component. The push plate pushes the material smoothly and the baffle precisely controls the discharge, effectively avoiding the problems of material jamming and inaccurate feeding, ensuring that the material can be accurately and orderly delivered to the launching tube, improving the projection efficiency and reliability, and solving the technical defects of the existing storage structure being simple and the feeding being unstable.

[0036] (3) The launch vector of the present invention is adjustable and highly stable. The vector launch module is equipped with a vector adjustment mechanism driven by dual servo motors, which can realize precise adjustment of the launch tube in the pitch and yaw directions, and flexibly adjust the launch angle and launch vector. At the same time, the shock absorber between the upper and lower mounting plates can effectively absorb the vibration during the flight of the UAV, avoid the vibration from affecting the launch accuracy, ensure the stability of the launch process, and solve the technical defects of the existing launch mechanism that cannot adjust the launch vector and the vibration affects the projection accuracy.

[0037] (4) The ballistic calculation of this invention is accurate and adaptable to complex environments. The ballistic calculation module integrates the distance, height difference, and wind field data collected by the laser rangefinder and wind speed and direction sensors, as well as the real-time pose information of the UAV. Through the aerodynamic model and calculation algorithm, the optimal launch parameters are calculated, which can effectively compensate for the projection error caused by the frequent gusts and changing wind direction in the dam canyon area, and control the landing point error within a reasonable range. It meets the core requirements of accurate marking and emergency delivery, and solves the technical defects of the existing device in that the ballistic calculation is not comprehensive and the projection error is large. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the present invention;

[0039] Figure 2 This is a schematic diagram of the installation module in this invention;

[0040] Figure 3 This is a schematic diagram of the vector adjustment mechanism in this invention;

[0041] Figure 4 This is a schematic diagram of the launching tube and launching power source in this invention;

[0042] Figure 5 This is a schematic diagram of the internal structure of the storage silo in this invention.

[0043] Reference numerals: 1-mounting plate, 2-mounting guide rod, 3-support rod, 4-mounting hole, 5-fixing sleeve, 6-storage bin, 7-first telescopic assembly, 8-second telescopic assembly, 9-longitudinal partition, 10-transverse partition, 11-push plate, 12-discharge port, 13-baffle, 14-first mounting rod, 15-slot, 16-launching tube, 17-launching power source, 18-feeding port, 19-flexible pipe, 20-second mounting rod, 21-upper mounting plate, 22-shock absorber, 23-lower mounting plate, 24-first L-shaped connecting rod, 25-first motor, 26-second L-shaped connecting rod, 27-second motor, 28-mounting base. Detailed Implementation

[0044] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings. It should be understood that the implementation of the present invention is not limited to the following embodiments, and any modifications and / or alterations made to the present invention will fall within the protection scope of the present invention.

[0045] like Figure 1As shown, this invention discloses a technical solution: a UAV-based air-to-ground precision delivery device for dam inspection, mounted on the bottom of the UAV fuselage. It includes an installation module, a material storage module, a vector launch module, and a ballistic calculation module. These modules work together to achieve precise storage, transport, and delivery of materials. The specific structure is as follows:

[0046] like Figure 2 As shown, the mounting module is used to detachably fix the entire device to the bottom of the drone fuselage, enabling rapid assembly and disassembly of the device and the drone, and improving the versatility and practicality of the device. Its specific structure includes a mounting plate 1 and a mounting unit.

[0047] The mounting plate 1 serves as the core mounting base for the device. Its upper surface is detachably and fixedly connected to the bottom of the UAV fuselage. The mounting plate 1 has several mounting holes 4, through which bolts are passed for detachable fixing to the UAV fuselage, facilitating the disassembly, maintenance, and replacement of the device. To balance structural strength and lightweight requirements, the mounting plate 1 is made of either aluminum alloy or carbon fiber, with a thickness of 5-12mm. Aluminum alloy offers advantages in low cost and easy processing, while carbon fiber offers advantages in light weight and high strength. The appropriate material can be selected based on actual inspection needs.

[0048] The mounting unit includes two horizontally arranged mounting guide rods 2, one at the front and one at the back. A mounting plate 1 is fixedly installed between the two mounting guide rods 2. To improve the stability of the mounting structure, fixing sleeves 5 are symmetrically installed on both the front and rear sides of the lower surface of the mounting plate 1. The mounting guide rods 2 pass through the through holes in the middle of the fixing sleeves 5 and are fixed inside the fixing sleeves 5 by locking bolts, ensuring a firm connection between the mounting guide rods 2 and the mounting plate 1 and preventing loosening during drone flight. A downward-sloping support rod 3 is installed in the middle of each of the two mounting guide rods 2. The two support rods 3 form an "eight" shape, which improves the stability of the drone. The angle between the support rod 3 and the mounting guide rod 2 is 120°, further enhancing structural stability.

[0049] like Figure 5 As shown, the storage module is connected to the installation module and is used to store the material to be projected, while realizing the accurate and orderly delivery of the material to avoid material jamming and mixing problems. It includes a storage bin 6 and a feeding mechanism, which includes a first telescopic component 7 and a second telescopic component 8.

[0050] The storage silo 6 is the core component for material storage. It has an internal longitudinal partition 9 that divides the silo 6 into a material chamber and a motor chamber. The material chamber stores the materials to be projected, while the motor chamber houses the drive components of the feeding mechanism, thus separating storage and driving to prevent contamination or interference from the materials. The material chamber contains multiple layers of transverse partitions 10. Separating slots for storing the materials to be projected are formed between adjacent transverse partitions 10 and between the inner wall of the material chamber and adjacent transverse partitions 10. The number and size of these separating slots can be customized according to the type and specifications of the materials to be projected, enabling the classified storage of different types of materials. For example, fluorescent markers, emergency floats, and soil stabilizers can be stored separately in different separating slots, facilitating precise subsequent feeding and projecting.

[0051] The motor compartment is equipped with multiple first telescopic components 7, each corresponding to a partition slot. Each first telescopic component 7 can be an electric telescopic rod, model XTL100. Its telescopic end passes through a longitudinal partition 9 and is fixedly connected to a push plate 11. The size of the push plate 11 is adapted to the cross-sectional size of the partition slot, ensuring that the material in the partition slot can be smoothly pushed out. A discharge port 12 is provided at the lower part of the material chamber away from the first telescopic components 7. Each partition slot has a baffle 13 at its corresponding discharge port 12, controlled by a second telescopic component 8. The second telescopic component 8 can also be a small electric telescopic rod, model XTL50. By controlling the opening and closing of the baffle 13, precise material discharge from the corresponding partition slot is achieved, preventing material mixing between different partition slots. Simultaneously, the discharge speed and discharge volume can be controlled to ensure feeding accuracy.

[0052] To achieve a stable connection between the storage bin 6 and the installation module, a first mounting rod 14 is provided on the upper surface of the storage bin 6. The top of the first mounting rod 14 is provided with a slot 15 that is compatible with the installation guide rod 2. The inner wall of the slot 15 at the top of the first mounting rod 14 is covered with a rubber anti-slip layer. The slot 15 and the installation guide rod 2 are fitted with a clearance and fixed by friction to prevent the storage bin 6 from sliding during the flight of the drone and ensure connection stability. At the same time, the design of the slot 15 facilitates the quick installation and disassembly of the storage bin 6 and improves maintenance convenience.

[0053] The vector launch module is connected to the installation module and to the discharge end of the storage module. It is used to receive the material conveyed by the storage module and control the launch vector of the material to achieve precise adjustment of the launch angle. It includes a launch tube 16, a vector adjustment mechanism and a launch power source 17.

[0054] like Figure 4As shown, the launching cylinder 16 serves as the material launching channel, with openings on both its left and right sides to facilitate material ejection. A launching power source 17 is installed at the end of the launching cylinder 16 facing the storage module. The launching power source 17 can be a pneumatic propulsion assembly or an electromagnetic propulsion assembly, providing a stable initial launch velocity for the material and avoiding problems such as insufficient projection distance or excessive error due to insufficient initial velocity. In this embodiment, a pneumatic propulsion assembly is used as the launching power source 17, with an adjustable output pressure range of 0.3-0.8 MPa. An inlet 18 is located on the upper part of the side of the launching cylinder 16 closest to the launching power source 17. The inlet 18 is connected to the outlet 12 via a flexible pipe 19. The flexible pipe 19 can be made of corrosion-resistant, flexible rubber or plastic tubing, capable of adapting to the angle adjustment of the launching cylinder 16, ensuring smooth material transport from the storage bin 6 into the launching cylinder 16 and preventing material jamming.

[0055] like Figure 3 As shown, the vector adjustment mechanism is connected to the launch tube 16 and is used to drive the launch tube 16 to rotate in the pitch and yaw directions to adjust the launch angle and realize the vector launch of materials. It includes a second mounting rod 20, an upper mounting plate 21, a shock absorber 22, a lower mounting plate 23, a first L-shaped connecting rod 24, a first motor 25, a second L-shaped connecting rod 26, a second motor 27, and a mounting base 28.

[0056] The second mounting rod 20 is bolted to the upper surface of the upper mounting plate 21. The top of the second mounting rod 20 has a slot 15 that matches the mounting guide rod 2. The inner wall of the slot 15 has an anti-slip layer, consistent with the installation method of the storage bin 6, facilitating quick connection and fixation of the vector launch module to the mounting guide rod 2, and improving the modularity of the device. The upper mounting plate 21 and the lower mounting plate 23 are connected by a shock absorber 22. The shock absorber 22 can be a spring shock absorber or a rubber shock absorber, which can effectively absorb the vibrations generated during the UAV's flight, preventing vibrations from being transmitted to the launch tube 16 and the vector adjustment mechanism, ensuring the stability of the launch angle and the projection accuracy.

[0057] One end of the first L-shaped connecting rod 24 is bolted to the lower surface of the lower mounting plate 23. The first motor 25 is bolted to the other end of the first L-shaped connecting rod 24. The first motor 25 is model 130ST-M06025. The output end of the first motor 25 is bolted to one end of the second L-shaped connecting rod 26. The first motor 25 can be a servo motor, used to drive the second L-shaped connecting rod 26 to rotate around the output shaft of the first motor 25, thereby adjusting the yaw angle of the launch tube 16. The other end of the second L-shaped connecting rod 26 is bolted to a second motor 27. The second motor 27 is the same model as the first motor 25. Its output end is bolted to one end of the mounting base 28. The launch tube 16 is detachably and fixedly mounted on the mounting base 28 by bolts. The second motor 27 is used to drive the mounting base 28 to rotate around the output shaft of the second motor 27, thereby adjusting the pitch angle of the launch tube 16. Through the coordinated control of the first motor 25 and the second motor 27, the launching tube 16 can be adjusted at multiple angles in three-dimensional space, accurately controlling the launching vector of the material and adapting to different projection scenarios and target positions.

[0058] The ballistic calculation module is connected to the vector launch module and the UAV's flight control system. It is used to calculate the launch parameters based on the UAV's real-time attitude information, target position information and environmental parameters, and control the vector launch module to perform the projection. It is the core control module for achieving precise projection and includes a sensor group and a microprocessor.

[0059] The sensor array is used to acquire the raw data required for the calculation. It includes at least a laser rangefinder and a wind speed and direction sensor. The laser rangefinder, model TF02-Pro, has a measurement range of 0.1-100m and an accuracy of ±1mm. It is used to measure the distance and elevation difference between the UAV and the target point, providing basic distance parameters for ballistic calculation. The wind speed and direction sensor, model RS485, measures wind speed in the range of 0-30m / s with an accuracy of ±0.1m / s. It is used to collect wind field data at the UAV's location in real time, including wind speed and direction, accurately capturing gust changes in the dam canyon area and providing data support for wind field compensation and calculation. Other sensors, such as attitude sensors, can be added to the sensor array as needed to further improve the calculation accuracy.

[0060] The microprocessor, serving as the core of the ballistic calculation module, employs an STM32F407 microcontroller. It connects to the sensor group, the first motor 25 and second motor 27 of the vector launch module, the launch power source 17, and the first telescopic component 7 and second telescopic component 8 of the storage module via serial communication. It can receive real-time distance, elevation difference, and wind field data collected by the sensor group, and simultaneously connects to the UAV flight controller via WiFi to obtain real-time UAV attitude information (such as flight altitude, flight attitude, and flight speed). The microprocessor incorporates an aerodynamic model of the projectile, fusing all the aforementioned data and using a preset calculation algorithm to calculate the optimal launch pitch and yaw angles required by the vector launch module. It also calculates the optimal output power of the launch power source 17, generating corresponding control commands which are sent to the vector launch module and the storage module. This controls the storage module to precisely feed the projectile and controls the vector launch module to adjust the launch angle and execute the projection, achieving high-precision projection in complex wind conditions.

[0061] The working process for this application is as follows:

[0062] 1. Device Assembly: First, pass the mounting guide rod 2 through the fixing sleeve 5 on the lower surface of the mounting plate 1 and fix it with locking bolts. Then, weld or bolt the support rod 3 to the middle of the mounting guide rod 2 to complete the assembly of the mounting module. Install the first telescopic component 7 and the second telescopic component 8 at the corresponding positions of the storage bin 6. Fix the push plate 11 to the telescopic end of the first telescopic component 7 and the baffle 13 to the telescopic end of the second telescopic component 8 to complete the assembly of the storage module. Assemble the components of the vector adjustment mechanism in sequence. Install the launch power source 17 at the right end of the launch tube 16 and connect the flexible pipe 19 to the inlet 18 and the outlet 12 to complete the assembly of the vector launch module. Install the storage module to the right end of the mounting guide rod 2 through the slot 15 of the first mounting rod 14 and the vector launch module to the left end of the mounting guide rod 2 through the slot 15 of the second mounting rod 20. Finally, fix the mounting plate 1 to the bottom of the UAV fuselage with bolts to complete the assembly of the entire device.

[0063] 2. Material loading: Open the top door of storage silo 6, put the materials (fluorescent marker balls, emergency floats, soil stabilizers) into the corresponding compartments, close the door, and the material loading is complete.

[0064] 3. Inspection and Projection Preparation: The UAV takes off carrying this device and inspects the dam according to the preset inspection route. The UAV flight control sends the UAV's flight altitude, attitude, speed and other position information to the microprocessor in real time. When the UAV detects targets such as cracks in the dam body, seepage points or floating objects on the water surface, the operator issues a projection command through the remote control. After receiving the command, the microprocessor controls the laser rangefinder to measure the precise distance and height difference between the UAV and the target point. The wind speed and direction sensor collects the wind field data of the current location in real time.

[0065] 4. Ballistics Calculation and Parameter Adjustment: The microprocessor integrates the UAV's attitude information, distance, elevation difference, and wind field data, combined with the type of material to be projected (such as fluorescent marker balls), and calculates the optimal launch pitch angle, yaw angle, and output pressure of launch power source 17 using a built-in aerodynamic model and calculation algorithm, generating control commands. Specifically, the calculation algorithm is as follows: First, based on the straight-line distance L and elevation difference H collected by the laser rangefinder, combined with the UAV's real-time flight altitude h, the trigonometric function formula α0=arct... The initial pitch angle α0 is calculated using an(H / L). Next, based on the wind speed v and wind direction θ collected by the wind speed and direction sensors, combined with the air resistance coefficient k and mass m of the projectile, the pitch angle is corrected using the wind field compensation formula α=α0+Δα (where Δα=k·v·cosθ / (m·g), and g is the gravitational acceleration), resulting in the final launch pitch angle α. The yaw angle β is calculated by the difference between the UAV's real-time heading angle φ and the target point's azimuth angle φ0, i.e., β=φ0-φ, ensuring the launch direction is aligned with the target point.

[0066] 5. Feeding and Projection: The microprocessor first controls the second telescopic component 8 of the corresponding dividing slot to retract, causing the baffle 13 to open. Then, it controls the first telescopic component 7 to extend, pushing the pusher plate 11 to push the material to the discharge port 12. The material enters the chamber of the launch tube 16 through the flexible pipe 19. The microprocessor controls the second telescopic component 8 to reset and the baffle 13 to close, preparing for the next projection. At the same time, the microprocessor controls the first motor 25 and the second motor 27 to rotate, driving the launch tube 16 to adjust to the calculated pitch and yaw angles. After the adjustment is completed, the microprocessor controls the launch power source 17 to start, outputting gas at a preset pressure to eject the material from the left end of the launch tube 16, achieving precise projection of the target point.

[0067] 6. Subsequent operations: After the projection is completed, the drone continues to inspect and repeat the above process until the inspection of the entire dam is completed.

[0068] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A dam inspection-based unmanned aerial vehicle air-to-ground precision projection device mounted on the bottom of the unmanned aerial vehicle body, characterized in that, include: The mounting module is used to detachably secure the entire device to the bottom of the drone fuselage; A material storage module, connected to the installation module, is used to store the material to be projected; The vector emission module is connected to the installation module and to the discharge end of the storage module. It is used to receive the material conveyed by the storage module and control the emission vector of the material. The ballistic calculation module is communicatively connected to the vector launch module and the UAV's flight control system, respectively. It is used to calculate the launch parameters based on the UAV's real-time pose information, target position information, and environmental parameters, and to control the vector launch module to perform the projection.

2. The unmanned aerial vehicle air-to-ground precision projection device based on dam inspection according to claim 1, characterized in that, The installation module includes: Mounting plate (1), the upper surface of which is detachably and fixedly connected to the bottom of the UAV fuselage; The installation unit includes two horizontally arranged installation guide rods (2) at the front and rear. The mounting plate (1) is fixedly installed between the two installation guide rods (2), and the middle of each of the two installation guide rods (2) is equipped with a downwardly inclined support rod (3). The two support rods (3) are in the shape of an "eight".

3. The UAV air-to-ground precision projection device based on dam inspection according to claim 2, characterized in that, The mounting plate (1) has several mounting holes (4), which are detachably fixed to the drone body by bolts passing through the mounting holes (4). The mounting plate (1) is made of aluminum alloy or carbon fiber and has a thickness of 5-12mm.

4. The UAV air-to-ground precision projection device based on dam inspection according to claim 3, characterized in that, The mounting plate (1) has symmetrically installed fixing sleeves (5) on both the front and rear sides of its lower surface. The mounting guide rod (2) passes through the through hole in the middle of the fixing sleeve (5) and is fixed in the fixing sleeve (5) by locking bolts.

5. A UAV air-to-ground precision projection device based on dam inspection according to claim 2, characterized in that, The storage module includes: Storage bin (6) is used to hold materials to be projected; The feeding mechanism is used to quantitatively feed materials to the vector launch module, including a first telescopic component (7) and a second telescopic component (8).

6. A UAV air-to-ground precision projection device based on dam inspection according to claim 5, characterized in that, The storage bin (6) is provided with a longitudinal partition (9), which divides the storage bin (6) into a material chamber and a motor chamber; The material chamber is provided with multiple horizontal partitions (10). A partition groove for storing the material to be projected is formed between adjacent horizontal partitions (10) and between the inner wall of the material chamber and the adjacent horizontal partitions (10). The motor chamber is provided with multiple first telescopic components (7) corresponding to the partition grooves one by one. The telescopic end of the first telescopic component (7) passes through the longitudinal partition (9) and is fixedly connected to a push plate (11). The lower part of the material chamber away from the first telescopic component (7) is provided with a discharge port (12). Each partition groove is provided with a baffle (13) controlled by a second telescopic component (8) at the discharge port (12).

7. A UAV air-to-ground precision projection device based on dam inspection according to claim 6, characterized in that, The upper surface of the storage bin (6) is provided with a first mounting rod (14), and the top of the first mounting rod (14) is provided with a slot (15) that is compatible with the mounting guide rod (2). The inner wall of the slot (15) is provided with an anti-slip layer.

8. A UAV air-to-ground precision projection device based on dam inspection according to claim 6, characterized in that, The vector transmission module includes: Launch tube (16); The vector adjustment mechanism is connected to the launch tube (16) and is used to drive the launch tube (16) to rotate in the pitch and yaw directions to adjust the launch angle; Launch power source (17) is used to provide the initial launch velocity for the material.

9. A UAV air-to-ground precision projection device based on dam inspection according to claim 8, characterized in that, The launch tube (16) has openings on both the left and right sides, and a launch power source (17) is installed at the end of the launch tube (16) facing the storage module. The launching tube (16) has an inlet (18) on the upper part of the side near the launching power source (17), and the inlet (18) is connected to the outlet (12) through a flexible pipe (19); The vector adjustment mechanism includes a second mounting rod (20), an upper mounting plate (21), a shock absorber (22), a lower mounting plate (23), a first L-shaped connecting rod (24), a first motor (25), a second L-shaped connecting rod (26), a second motor (27), and a mounting base (28). The second mounting rod (20) is mounted on the upper surface of the upper mounting plate (21). The top of the second mounting rod (20) is provided with a slot (15) that is compatible with the mounting guide rod (2). The inner wall of the slot (15) is provided with an anti-slip layer. Between the upper mounting plate (21) and the lower mounting plate (23) The first L-shaped connecting rod (24) is fixedly connected to the lower surface of the lower mounting plate (23) via a shock absorber (22). The first motor (25) is installed at the other end of the first L-shaped connecting rod (24). The output end of the first motor (25) is fixedly connected to one end of the second L-shaped connecting rod (26). The other end of the second L-shaped connecting rod (26) is fixedly connected to a second motor (27). The output end of the second motor (27) is fixedly connected to one end of the mounting base (28). The launching tube (16) is detachably and fixedly installed on the mounting base (28).

10. A UAV air-to-ground precision projection device based on dam inspection according to claim 1, characterized in that, The ballistics calculation module includes: The sensor group is used to acquire the raw data required for the calculation. It includes at least a laser rangefinder and a wind speed and direction sensor. The laser rangefinder is used to measure the precise straight-line distance and elevation difference between the UAV and the target point. The wind speed and direction sensor is used to collect wind field data at the location of the UAV in real time. The microprocessor is connected to the sensor group, vector launch module, material storage module and UAV flight control communication, and is used to calculate the optimal launch pitch angle and yaw angle required by the vector launch module based on the aerodynamic model of the projected object, by fusing the distance, elevation difference and wind field data, and to generate control commands.

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