High slope deformation monitoring equipment and monitoring method based on unmanned aerial vehicle measurement

Abstract

The invention discloses a high slope deformation monitoring device based on unmanned aerial vehicle measurement, and relates to the technical field of slope monitoring, the high slope deformation monitoring device comprises a guiding positioning device and an unmanned aerial vehicle body, the unmanned aerial vehicle body is provided with a data acquisition mechanism, and the guiding positioning device and the unmanned aerial vehicle body cooperate with each other to realize height and levelness control of the unmanned aerial vehicle body. The unmanned aerial vehicle body is in signal connection with the data acquisition mechanism through a controller of the unmanned aerial vehicle body and performs qualified screening on the acquired data; the unmanned aerial vehicle body completes monitoring of slope deformation through the data acquisition mechanism under the assistance of the guiding and positioning equipment, the unmanned aerial vehicle body is connected with a ground control station through wireless signals, and a control system of the ground control station draws a slope deformation monitoring graph according to qualified data acquired by the unmanned aerial vehicle body. According to the invention, the unmanned aerial vehicle body can overcome the influence of self vibration and wind power factors and accurately position the position of the unmanned aerial vehicle body, so that an accurate measurement result can be obtained, and the deformation condition of the surface of the slope can be accurately monitored in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of slope monitoring, and in particular to a high slope deformation monitoring device and a monitoring method based on unmanned aerial vehicle measurement. Background Art

[0002] Slope deformation monitoring is gaining more and more attention as a technology in civil engineering. It is mainly used for real-time monitoring of slope deformation in geotechnical engineering under complex terrain conditions, and plays an important role in monitoring the deformation of slopes and nearby buildings during construction under complex terrain conditions. In addition, it can also be used for deformation monitoring after the completion of structural engineering such as roads and bridges, which plays a very important role in analyzing and evaluating the safety status of structural engineering, verifying the rationality of design, and feedback on the design and construction quality of structural engineering. In addition, monitoring the deformation of natural slopes and artificial slopes, such as open-pit mine slopes and foundation pit slopes, and then analyzing the stability of the slopes can provide timely warnings for landslides.

[0003] The utility model with application number CN202022784856.6 discloses an automatic monitoring system for high slopes based on drones, including a monitoring center, a high slope at a construction site and a construction site, and also includes a slope monitoring support platform, a drone landing pad is provided on the slope monitoring support platform, a monitoring drone is provided on the drone landing pad, the drone data acquisition device signal is connected to the monitoring equipment, the collection and transmission equipment is connected to the monitoring center through a wireless network card, and data is transmitted by a wireless network. The drone and the monitoring equipment are powered by solar energy. The drone collects high slope image information and data at high altitudes. Through remote monitoring and analysis, remote data collection, and solar power supply, the cost of the monitoring system is effectively reduced, the efficiency of the monitoring system is improved, and the long-term and stable operation of the entire system can be guaranteed.

[0004] However, in actual engineering applications, the deformation of the slope collected by the drone is greatly affected by the stability of the drone's own attitude. When the drone vibrates due to flight or its attitude is difficult to control due to wind, the slope deformation data collected will be affected. For example, the different positions of the drone itself and the different angles of the collection equipment will affect the accuracy of the collection results. When the two sets of data collection positions in the previous and subsequent time periods are different, the results are often not comparable, which brings great difficulties to the identification of slope deformation. Most importantly, in the same collection task, when the drone hovers in the air to collect data, its own position and attitude are constantly changing due to its own vibration and wind. The slope point A at the previous moment collects data based on the drone's position B, and the slope point C at the next moment collects data based on the drone's position D. The reference standards of the two are different, and it is difficult to determine where the deformation has occurred through relative comparison. It is obviously not reasonable to summarize the data by ignoring the errors of position B and position D. Summary of the invention

[0005] The present invention provides a high slope deformation monitoring device and a monitoring method based on UAV measurement, aiming to solve the problem of high slope deformation monitoring data distortion caused by the difficulty in accurately controlling the position and posture of the UAV itself in the prior art.

[0006] To solve the above problems, the technical solution of the present invention is:

[0007] A high slope deformation monitoring device based on drone measurement, comprising a guide positioning device and a drone body, wherein the guide positioning device is vertically fixedly connected to the ground at the bottom of the slope, the drone body is provided with a data acquisition mechanism, and the guide positioning device and the drone body cooperate with each other to realize the control of the height and levelness of the drone body;

[0008] The drone body is connected to the data acquisition mechanism through its own controller and performs qualified screening on the collected data; the drone body completes the monitoring of slope deformation through the data acquisition mechanism with the assistance of the guidance and positioning equipment, and the drone body is connected to the ground control station through wireless signals. The control system of the ground control station draws a slope deformation monitoring map based on the qualified data collected by the drone body.

[0009] Preferably, the guiding and positioning device includes a guide column, a fixing plate is provided at the bottom end of the guide column, the guide column is vertically fixedly connected to the fixing plate, a number of evenly distributed support plates are connected between the upper end of the fixing plate and the bottom of the outer wall of the guide column, the fixing plate is horizontally fixedly connected to the ground through ground nails, and a conical guide head is integrally formed on the top of the guide column.

[0010] Preferably, the drone body is provided with a cylindrical shell, a through hole penetrating the top of the drone body is provided in the middle of the cylindrical shell, the through hole is located at the center of gravity of the drone body, a sleeve arranged in the longitudinal direction is fixedly connected in the through hole, a plurality of evenly distributed balls are embedded in the inner wall of the sleeve, a trumpet-shaped guide structure is provided at both ends of the sleeve, the upper part of the sleeve extends out of the top of the drone body and a cubic collection box is coaxially fixedly connected to the outer periphery;

[0011] The data acquisition mechanism includes a first acquisition mechanism, a second acquisition mechanism and a third acquisition mechanism arranged on the four sides of the acquisition box and arranged on the side surface of the cylindrical shell. When the sleeve is sleeved on the guide column, it slides with the guide column through the ball bearing.

[0012] Preferably, at least three first laser ranging sensors are evenly distributed around the axis at the bottom of the cylindrical shell, the first laser ranging sensors are fixedly connected to the bottom of the cylindrical shell through a mounting seat, the measuring light of the first laser ranging sensor intersects with the axis of the sleeve, and the first laser ranging sensor is connected to the controller signal through a wire.

[0013] Preferably, four second laser ranging sensors arranged vertically are evenly distributed around the axis at the bottom end of the cylindrical shell, and the second laser ranging sensors are used to measure the height of the drone body relative to the upper end of the fixed plate. When the fixed plate is arranged horizontally, the detection values ​​of the four second laser ranging sensors consistently indicate that the drone body is in a horizontal posture, and the second laser ranging sensor is connected to the controller signal through a wire.

[0014] Preferably, the first acquisition mechanism includes a visual sensor arranged on the top of the side of the acquisition box, the second acquisition mechanism includes a radar scanner arranged on the bottom of the side of the acquisition box; and the third acquisition mechanism includes a third laser ranging sensor arranged on the side of the cylindrical shell.

[0015] Preferably, there are one or more third laser ranging sensors, and the reverse extension line of the measuring light of the third laser ranging sensor intersects with the axis of the sleeve at the origin. When there are more than one third laser ranging sensors, the more than one third laser ranging sensors are evenly distributed around the axis of the sleeve.

[0016] Preferably, when there are several third laser ranging sensors, there are multiple groups of third laser ranging sensors, and the multiple groups of third laser ranging sensors are evenly arranged on the side surface of the cylindrical shell along the longitudinal direction, and the reverse extension line of the measuring light of each group of third laser ranging sensors intersects with the axis of the sleeve at different origins.

[0017] A monitoring method for high slope deformation monitoring equipment based on UAV measurement includes the following steps:

[0018] Step 1: Fix the guide positioning device on the ground at the bottom of the slope so that the fixing plate is fixedly connected to the ground in a horizontal posture. At this time, the guide column extends vertically upward; when only one guide positioning device is arranged, the drone body is sleeved on the guide column through a sleeve; when there are multiple guide positioning devices, the drone body is sleeved on one of the guide columns through a sleeve;

[0019] Step 2: The staff of the ground control station remotely controls the drone body or starts the controller of the drone body to move the drone body up and down along the guide column to collect data; when there is one third laser ranging sensor, the drone body hovers at the height after moving up or down a set distance and rotates around the guide column. The controller determines whether the drone body is in a horizontal posture based on the data of the four second laser ranging sensors;

[0020] When the detection values ​​of the four second laser ranging sensors are consistent, the controller marks the data collected by the data acquisition mechanism at the same time according to the built-in timing module, that is, marks it as qualified data, and then the drone body continues to move up or down the set distance and repeats the data collection; if there are several third laser ranging sensors, the staff or the controller controls the drone body to move vertically up or down along the guide column, and hovers when moving the set distance. During the hovering process, when the detection values ​​of the four second laser ranging sensors are consistent, the controller marks the qualified data; in the above process, the controller transmits the qualified data to the control system of the ground control station through the wireless signal transceiver of the drone body, and the control system makes a slope deformation monitoring map;

[0021] Step 3: When there are multiple guidance and positioning devices, the drone body completes data collection at one guidance and positioning device and then flies to another guidance and positioning device for data collection until all data collection is completed.

[0022] Preferably, in the step 3, after the data collection at a certain guiding and positioning device is completed, the drone body rises upward and detaches from the guide column under the control of the staff, then flies to the adjacent guiding and positioning device, and hovers above the guide column of the guiding and positioning device. The staff controls the posture of the drone body to insert the conical guide head into the trumpet-shaped guide structure at the bottom. When the data detected by the first laser ranging sensor is consistent, it represents that the axis of the sleeve coincides with the axis of the guide column. The drone body flies downward and the sleeve is mounted on the guide column, and then starts data collection in the manner of step 2.

[0023] The high slope deformation monitoring device and monitoring method based on drone measurement of the present invention have the following beneficial effects:

[0024] The present invention enables the drone body to overcome the influence of its own vibration and wind factors, accurately locate its own position, thereby obtaining accurate measurement results, and can accurately monitor the deformation of the slope surface in real time, thus providing a guarantee for the safety of slope construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 , a front view schematic diagram of the structure of the present invention during construction;

[0026] Figure 2 , a schematic diagram of the top view of the structure of the drone body of the present invention;

[0027] Figure 3 , a schematic diagram of the structure of the drone body of the present invention when viewed from above;

[0028] Figure 4 , a schematic diagram of the present invention for measuring slope deformation by a third laser ranging sensor;

[0029] 1: fixing plate, 2: ground nail, 3: guide column, 4: support plate, 5: cylindrical shell, 6: third laser ranging sensor, 7: bracket, 8: propeller, 9: acquisition box, 10: visual sensor, 11: radar scanner, 12: mounting seat, 13: first laser ranging sensor, 14: conical guide head, 15: sleeve, 16: bell-shaped guide structure, 17: ball, 18: second laser ranging sensor, 19: measuring light, 20: origin, 21: reverse extension line, 22: slope section, 23: deformation area. DETAILED DESCRIPTION

[0030] The following describes in detail the implementation mode of the present invention in a step-by-step manner. The description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the purpose of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore cannot be understood as a limitation on the present invention.

[0032] Example 1

[0033] A high slope deformation monitoring device based on drone measurement, such as Figure 1-4As shown, it includes a guiding and positioning device and a drone body. The guiding and positioning device is vertically fixedly connected to the ground at the bottom of the slope. The drone body is provided with a data acquisition mechanism. The guiding and positioning device and the drone body cooperate with each other to realize the control of the height and horizontality of the drone body. The drone body is connected to the data acquisition mechanism signal through its own controller and performs qualified screening for the collected data. With the assistance of the guiding and positioning device, the drone body completes the monitoring of slope deformation through the data acquisition mechanism. The drone body is connected to the ground control station through wireless signals. The control system of the ground control station draws a slope deformation monitoring map based on the qualified data collected by the drone body.

[0034] In this embodiment, performing qualified screening on the collected data means that the controller screens out unqualified data collected when the drone body is affected by its own vibration and wind force, and the rest is qualified data.

[0035] The screening method is based on the fact that when the distances measured by the four second laser ranging sensors on the upper end of the fixed plate are consistent, it means that the drone body itself is in a horizontal posture and the axis of the guide column is perpendicular to the fixed plate (that is, the position of the drone body itself is accurately located (the height can be known from the distance measured by the second laser ranging sensor)). Since the controller has its own timing module, the data collected by the data collection mechanism corresponding to the moment when the drone body is in a horizontal posture is marked as qualified data; in this way, qualified data at each measurement height can be obtained.

[0036] It should be noted that the necessity of screening qualified data is as follows: due to the factors of wind and the vibration of the drone body, although there are guide columns to guide the position and direction of the drone body, the wind factors at the construction site and the vibration factors of the drone body itself may still cause the guide columns to shake to a certain extent. Unqualified data and qualified data will be generated during the shaking process. Therefore, it is necessary to screen the data.

[0037] The existing drones directly hover in the air to collect data. Taking the laser ranging sensor as an example, due to wind factors, the distance A measured by the drone at a certain moment on the slope surface is measured, and the distance B measured after shaking occurs. Since the coordinate position of the drone itself cannot be accurately located, the reference value of the measured result is very low. When it is assumed that the drone itself does not shake, the deformation line of the slope surface is drawn based on the distances of multiple points on the slope surface measured by the drone at the default position (reference Figure 4 ), which obviously has a large error.

[0038] Example 2

[0039] like Figure 1As shown, the guiding and positioning device includes a guide column 3, a fixing plate 1 is provided at the bottom end of the guide column 3, the guide column 3 is vertically fixedly connected to the fixing plate 1, a plurality of evenly distributed support plates 4 are connected between the upper end of the fixing plate 1 and the bottom of the outer wall of the guide column 3, the fixing plate 1 is horizontally fixedly connected to the ground through a ground nail 2, and a conical guide head 14 is integrally formed on the top of the guide column 3.

[0040] In this embodiment, the function of the guide column is to limit and guide the moving trajectory of the drone body during measurement. According to the size of the slope monitoring area, one or more guide positioning devices can be set according to actual needs during construction. The guide positioning device is usually set facing the slope to facilitate the drone body to collect deformation data of the slope.

[0041] Example 3

[0042] like Figure 1 , 2 As shown in Figures 3 and 4, the drone body is provided with a cylindrical shell 5. The cylindrical shell 5 here can be understood as a cylindrical shell provided at the bottom of the main shell of the drone body or the main shell of the drone body is the cylindrical shell; a through hole (not marked in the figure) is provided in the middle of the cylindrical shell 5 and passes through the top of the drone body. The through hole is located at the center of gravity of the drone body. A sleeve 15 arranged in the longitudinal direction is fixedly connected in the through hole. A plurality of evenly distributed balls 17 are embedded in the inner wall of the sleeve 15 to facilitate the sliding of the sleeve relative to the guide column.

[0043] Both ends of the sleeve 15 are respectively provided with a trumpet-shaped guide structure 16 (that is, the two ends of the sleeve are expanded to form a trumpet, which is convenient for matching with the conical guide head). The upper part of the sleeve 15 extends out of the top of the drone body and is coaxially fixedly connected to a cubic collection box 9 on the outer periphery. The data collection mechanism includes a first collection mechanism, a second collection mechanism and a third collection mechanism arranged on the four sides of the collection box 9. When the sleeve 15 is sleeved on the guide column 3, it slides with the guide column 3 through the ball 17.

[0044] like Figure 3 As shown, at least three first laser ranging sensors 13 are evenly distributed around the axis at the bottom of the cylindrical shell 5, and the first laser ranging sensors 13 are fixedly connected to the bottom of the cylindrical shell 5 through a mounting seat 12. The measuring light of the first laser ranging sensor 13 intersects with the axis of the sleeve 15, and the first laser ranging sensor 13 is connected to the controller signal through a wire.

[0045] The relevant structure of this embodiment and the function of the first laser ranging sensor are detailed in the following implementation manner.

[0046] Example 4

[0047] like Figure 3 As shown, four second laser ranging sensors 18 arranged vertically are evenly distributed around the axis at the bottom end of the cylindrical shell 5. The second laser ranging sensors 18 are used to measure the height of the drone body relative to the upper end of the fixing plate 1. When the fixing plate 1 is arranged horizontally, the detection values ​​of the four second laser ranging sensors 18 consistently indicate that the drone body is in a horizontal posture, which ensures that the data acquisition mechanism is in a set posture. The second laser ranging sensor 18 is connected to the controller signal through a wire.

[0048] Example 5

[0049] like Figure 1 , 2 As shown, the first acquisition mechanism includes a visual sensor 10 arranged on the top side of the acquisition box 9, the second acquisition mechanism includes a radar scanner 11 arranged on the bottom side of the acquisition box 9; the third acquisition mechanism includes a third laser ranging sensor 6 arranged on the side of the cylindrical shell 5.

[0050] like Figure 1 , 4 As shown, there is one or more third laser ranging sensors 6, and the reverse extension line 21 of the measuring light 19 of the third laser ranging sensor 6 intersects with the axis of the sleeve 15 at the origin 20. When there are more than one third laser ranging sensors 6, the more than one third laser ranging sensors 6 are evenly distributed around the axis of the sleeve.

[0051] like Figure 1 As shown, when there are a plurality of third laser ranging sensors 6, there are multiple groups of third laser ranging sensors 6, and the multiple groups of third laser ranging sensors 6 are evenly arranged on the side surface of the cylindrical housing 5 along the longitudinal direction ( Figure 1 Two groups are drawn, and multiple groups can simultaneously monitor slope deformation over a larger area. The reverse extension line 21 of the measuring light 19 of each group of third laser ranging sensors 6 intersects the axis of the sleeve 15 at different origins.

[0052] like Figure 4 As shown in the figure, when the drone body is at a certain set height for data collection, the obtained qualified data can be plotted as shown in the figure. The measurement light 19 starts from the same origin 20 and reaches the slope surface. The projection points of several measurement lights are connected to form the deformation line of the slope surface. It can be seen from the figure that there is an obvious deformation area 23. The drone body moves up and down to different positions. After the deformation lines are superimposed, the deformation map of the slope surface can be obtained. Combining the data results measured by the visual sensor and the radar scanner, the deformation of the slope can be accurately determined.

[0053] Example 6

[0054] A monitoring method for high slope deformation monitoring equipment based on UAV measurement, such as Figure 1-4 As shown, the following steps are included:

[0055] Step 1. Fix the guiding and positioning device on the ground at the bottom of the slope so that the fixing plate is fixedly connected to the ground in a horizontal posture. At this time, the guide column extends vertically upward; when only one guiding and positioning device is arranged, the UAV body is mounted on the guide column through a sleeve; when there are multiple guiding and positioning devices, the UAV body is mounted on one of the guide columns through a sleeve.

[0056] Step 2: The staff of the ground control station remotely controls the drone body or starts the controller of the drone body to move the drone body up and down along the guide column to collect data; when there is one third laser ranging sensor, the drone body hovers at the height after moving up or down a set distance and rotates around the guide column. The controller determines whether the drone body is in a horizontal posture based on the data of the four second laser ranging sensors;

[0057] When the detection values ​​of the four second laser ranging sensors are consistent, the controller marks the data collected by the data collection mechanism at the same time according to the built-in timing module, that is, marks it as qualified data, and then the drone body continues to move up or down the set distance and repeats the data collection; if there are several third laser ranging sensors, the staff or the controller controls the drone body to move vertically up or down along the guide column, and hovers when moving the set distance. During the hovering process, when the detection values ​​of the four second laser ranging sensors are consistent, the controller marks the qualified data;

[0058] In the above process, the controller transmits qualified data to the control system of the ground control station through the wireless signal transceiver of the drone body, and the control system makes a slope deformation monitoring map; in this step, if there are several third laser ranging sensors, the monitoring efficiency can be significantly improved, but it should be noted that when measuring, one side of the acquisition box should face the slope surface to facilitate the operation of the visual sensor and radar scanner.

[0059] Step 3: When there are multiple guidance and positioning devices, the drone body completes data collection at one guidance and positioning device and then flies to another guidance and positioning device for data collection until all data collection is completed.

[0060] Example 7

[0061] like Figure 1-4As shown, in the step 3, after the data collection at a certain guiding and positioning device is completed, the UAV body rises upward and detaches from the guide column under the control of the staff, then flies to the adjacent guiding and positioning device, and hovers above the guide column of the guiding and positioning device. The staff controls the posture of the UAV body to insert the conical guide head into the trumpet-shaped guide structure at the bottom. When the data detected by the first laser ranging sensor is consistent, it represents that the axis of the sleeve coincides with the axis of the guide column. The UAV body flies downward and the sleeve is mounted on the guide column, and then starts data collection in the manner of step 2.

[0062] Through the above arrangement, the present invention can enable the drone body to overcome the influence of its own vibration and wind factors, accurately locate its own position, thereby obtaining accurate measurement results, and can accurately monitor the deformation of the slope surface in real time, providing a guarantee for the construction safety of the slope.

Claims

1. A high slope deformation monitoring device based on drone measurement, characterized by: It includes a guiding and positioning device and a drone body, and the guiding and positioning device is vertically fixedly connected to the ground at the bottom of the slope; The drone body is provided with a data collection mechanism, and the guidance and positioning device cooperates with the drone body to realize the control of the height and levelness of the drone body; The drone body is connected to the data collection mechanism through its own controller and performs qualified screening on the collected data; The UAV body completes the monitoring of slope deformation through the data acquisition mechanism with the assistance of the guidance and positioning equipment. The UAV body is connected to the ground control station through wireless signals. The control system of the ground control station draws the slope deformation monitoring map based on the qualified data collected by the UAV body.

2. The high slope deformation monitoring device based on drone measurement as claimed in claim 1 is characterized by: The guiding and positioning device comprises a guide column; A fixing plate is provided at the bottom end of the guide column, the guide column and the fixing plate are vertically fixedly connected, and a plurality of evenly distributed support plates are connected between the upper end of the fixing plate and the bottom of the outer wall of the guide column; The fixing plate is horizontally fixedly connected to the ground through ground nails, and a conical guide head is integrally formed on the top of the guide column.

3. The high slope deformation monitoring device based on drone measurement as claimed in claim 2 is characterized by: The drone body is provided with a cylindrical shell, and a through hole penetrating the top of the drone body is provided in the middle of the cylindrical shell; The through hole is located at the center of gravity of the drone body, a sleeve arranged longitudinally is fixedly connected in the through hole, a plurality of evenly distributed balls are embedded in the inner wall of the sleeve, a trumpet-shaped guide structure is respectively provided at both ends of the sleeve, the upper part of the sleeve extends out of the top of the drone body and a cubic collection box is coaxially fixedly connected to the outer periphery; The data acquisition mechanism includes a first acquisition mechanism, a second acquisition mechanism and a third acquisition mechanism arranged on the four sides of the acquisition box and arranged on the side surface of the cylindrical shell. When the sleeve is sleeved on the guide column, it slides with the guide column through the ball bearing.

4. The high slope deformation monitoring device based on drone measurement as claimed in claim 3 is characterized by: At least three first laser ranging sensors are evenly distributed around the axis at the bottom end of the cylindrical shell; The first laser distance measuring sensor is fixedly connected to the bottom end of the cylindrical shell through a mounting seat, the measuring light of the first laser distance measuring sensor intersects with the axis of the sleeve, and the first laser distance measuring sensor is connected to the controller signal through a wire.

5. The high slope deformation monitoring device based on drone measurement as claimed in claim 4 is characterized by: The bottom end of the cylindrical shell is evenly distributed around the axis with four second laser distance measuring sensors arranged vertically; The second laser ranging sensor is used to measure the height of the drone body relative to the upper end of the fixed plate. When the fixed plate is arranged horizontally, the detection values ​​of the four second laser ranging sensors consistently indicate that the drone body is in a horizontal posture. The second laser ranging sensor is connected to the controller signal through a wire.

6. The high slope deformation monitoring device based on drone measurement as claimed in claim 5 is characterized by: The first acquisition mechanism includes a visual sensor arranged on the top of the side of the acquisition box, and the second acquisition mechanism includes a radar scanner arranged on the bottom of the side of the acquisition box; the third acquisition mechanism includes a third laser ranging sensor arranged on the side of the cylindrical shell.

7. The high slope deformation monitoring device based on drone measurement as claimed in claim 6 is characterized by: There is one or more third laser ranging sensors, and the reverse extension line of the measuring light of the third laser ranging sensor intersects with the axis of the sleeve at the origin. When there are more than one third laser ranging sensors, the more than one third laser ranging sensors are evenly distributed around the axis of the sleeve.

8. The high slope deformation monitoring device based on drone measurement as claimed in claim 7 is characterized by: When there are several third laser ranging sensors, there are multiple groups of third laser ranging sensors, and the multiple groups of third laser ranging sensors are evenly arranged on the side surface of the cylindrical shell along the longitudinal direction, and the reverse extension line of the measuring light of each group of third laser ranging sensors intersects with the axis of the sleeve at different origins.

9. The monitoring method of a high slope deformation monitoring device based on drone measurement as claimed in claim 8, characterized in that: The steps include: Step 1: Fix the guide positioning device on the ground at the bottom of the slope so that the fixing plate is fixedly connected to the ground in a horizontal posture. At this time, the guide column extends vertically upward; when only one guide positioning device is arranged, the drone body is sleeved on the guide column through a sleeve; when there are multiple guide positioning devices, the drone body is sleeved on one of the guide columns through a sleeve; Step 2: The staff at the ground control station remotely controls the drone or activates the drone's built-in controller to move the drone up and down along the guide column to collect data; When there is one third laser ranging sensor, the drone body hovers at the height after moving up or down a set distance and rotates around the guide column. The controller determines whether the drone body is in a horizontal posture based on the data of the four second laser ranging sensors; When the detection values ​​of the four second laser ranging sensors are consistent, the controller marks the data collected by the data acquisition mechanism at the same time according to the built-in timing module, that is, marks it as qualified data. Then, the drone body continues to move up or down the set distance and repeats the data collection. If there are several third laser ranging sensors, the staff or controller controls the drone body to move vertically upward or downward. The drone moves along the guide column and hovers when the set distance is moved. During the hovering process, when the detection values ​​of the four second laser ranging sensors are consistent, the controller marks the qualified data. In the above process, the controller transmits the qualified data to the control system of the ground control station through the wireless signal transceiver of the drone body, and the control system makes a slope deformation monitoring map. Step 3: When there are multiple guidance and positioning devices, the drone body completes data collection at one guidance and positioning device and then flies to another guidance and positioning device for data collection until all data collection is completed.

10. The monitoring method of a high slope deformation monitoring device based on drone measurement as claimed in claim 9, characterized in that: In the step 3, when the data collection at a certain guiding and positioning device is completed, the drone body rises upward and detaches from the guide column under the control of the staff, then flies to the adjacent guiding and positioning device, and hovers above the guide column of the guiding and positioning device. The staff controls the posture of the drone body to insert the conical guide head into the trumpet-shaped guide structure at the bottom. When the data detected by the first laser ranging sensor is consistent, it means that the axis of the sleeve coincides with the axis of the guide column. The drone body flies downward and the sleeve is mounted on the guide column, and then data collection is started in the manner of step 2.

Images