Land exploration flight node device and use method thereof

Abstract

The invention discloses a land exploration flight node device and a use method thereof, the land exploration flight node device comprises a cantilever support, a rotor wing rotating mechanism is arranged in the cantilever support, and a rotor wing mechanism connected with the rotor wing rotating mechanism is arranged on the cantilever support; a guide cover and a lower shell are arranged on the two sides of the middle of the cantilever support respectively, and a tail cone is arranged at the bottom of the lower shell; a moving coil detector and a battery pack are arranged in the lower shell, an ultrasonic sensor, a high-definition camera and a communication charging port are arranged on the cantilever support, and a power circuit board, a seismic wave collection circuit board, a master control circuit board and a sensor circuit board are arranged in the guide cover. The land exploration flight node device can fly to a preset point to carry out acquisition work, can autonomously carry out seismic wave acquisition, and can return after data acquisition is completed, so that the labor intensity of workers is greatly reduced, the working efficiency is improved, and meanwhile, potential safety hazards are also eliminated.

Description

Technical Field

[0001] The present invention belongs to the technical field of land exploration flight equipment, and in particular relates to a land exploration flight node device and a method of using the same. Background Art

[0002] The land exploration node device is a device used in the field of seismic exploration. It represents an important direction for the development of seismic acquisition technology. The emergence of the land exploration flight node device has greatly promoted the development of geophysical exploration, enabling it to transition from traditional wired acquisition to wireless acquisition mode, improving acquisition efficiency, and promoting the integration of wired and wireless modes of land exploration flight node acquisition equipment, playing an important role in large-scale, high-density seismic exploration.

[0003] There are some problems with existing land exploration node devices. The deployment and recovery of land exploration node devices require manual labor to reach the designated location, especially in high and difficult mountains, uninhabited areas or deep deserts. This operation is time-consuming and labor-intensive and may also bring safety risks. For this reason, we propose a land exploration flying node device and its use method. Summary of the invention

[0004] The object of the present invention is to provide a land exploration flight node device and a method of using the same to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: A land exploration flight node device, comprising a cantilever bracket, a rotor rotation mechanism is arranged inside the cantilever bracket, and a rotor mechanism connected to the rotor rotation mechanism is arranged on the cantilever bracket; A guide cover and a lower shell are respectively arranged on both sides of the middle part of the cantilever bracket, and a tail vertebra is arranged at the bottom of the lower shell; A moving coil detector and a battery pack are arranged in the lower shell, an ultrasonic sensor, a high-definition camera and a communication charging port are arranged on the cantilever bracket, and a power supply circuit board, a seismic wave acquisition circuit board, a main control circuit board and a sensor circuit board are arranged in the guide cover.

[0006] Preferably, the battery pack is connected to the power circuit board, and the power circuit board is connected to the seismic wave acquisition circuit board, the main control circuit board and the sensor circuit board; The moving coil geophone is connected to the seismic wave acquisition circuit board, the ultrasonic sensor is connected to the sensor circuit board, the high-definition camera and the communication charging port are both connected to the main control circuit board, and the seismic wave acquisition circuit board and the sensor circuit board are both connected to the main control circuit board.

[0007] Preferably, the cantilever bracket comprises a base and four cantilevers, and the four cantilevers are arranged in a ring shape on the outer peripheral side of the base.

[0008] Preferably, the rotor rotation mechanism includes a drive motor, a first bevel gear, a transmission shaft, a second bevel gear and a mounting seat; A through hole is provided in the cantilever, the transmission shaft is rotatably arranged in the through hole in the cantilever, the second bevel gear is arranged on one end of the transmission shaft facing the base, the drive motor is arranged in the base, and the output end of the drive motor is provided with the first bevel gear, and the first bevel gear and the four second bevel gears are all meshed and connected; The other end of the transmission shaft extends out of the cantilever and is provided with the mounting seat.

[0009] Preferably, the rotor mechanism is arranged on the mounting seat, the transmission shaft is a hollow structure, a cable connected to the rotor mechanism is arranged inside the transmission shaft, and the rotor mechanism is connected to the main control circuit board through the cable.

[0010] Preferably, the rotor mechanism comprises a high-speed motor and a rotor; The high-speed motor is arranged on the mounting seat, and the rotor is arranged at the output end of the high-speed motor.

[0011] Preferably, the tail vertebra is fixedly arranged at the bottom of the lower shell by bolts, the tail vertebra is a conical structure, and a spiral pattern is arranged at the lower part of the tail vertebra.

[0012] Preferably, the battery pack is arranged above the dynamic coil detector, a shock-absorbing rubber pad is arranged between the dynamic coil detector and the battery pack, and the top of the battery pack is fixed in the lower shell by a pressure cover and bolts.

[0013] A method for using a land exploration flight node device comprises the following steps: A. Flight preparation: Connect the computer to the communication charging port of the land exploration flight node device to check whether the initialization status of the land exploration flight node device is normal. If not, repair the land exploration flight node device; if normal, disconnect the computer connection, turn on the land exploration flight node device, wait for the land exploration flight node device system self-check to complete, and check the reported self-check status through the handheld device, and wait for flight; B. Preset flight exploration missions: According to the geographical location of the flight exploration target, the flight parameters and exploration mission parameters of the land exploration flight node device are set through the handheld device; C. Flight trajectory planning: The land exploration flight node device performs flight exploration tasks according to the set flight parameters and exploration mission parameters, optimizes the flight path, and obtains the best flight path; D. Execution of flight exploration missions: The land exploration flight node device arrives at the flight exploration target geographical location according to the best flight path and lands, so that the tail vertebra of the land exploration flight node device is inserted into the ground, and then the exploration mission begins. After the exploration mission is completed, the land exploration flight node device returns; E. Exploration data acquisition: By connecting the computer to the communication charging port of the land exploration flight node device, the exploration data of the land exploration flight node device can be transferred to the computer.

[0014] Preferably, in step B, the specific process of presetting the flight exploration mission is as follows: B1. According to the geographical location of the flight exploration target, set the flight altitude H and maximum flight speed V of the land exploration flight node device through the handheld device. max , flight hovering time T honer , Landing speed V land and landing recovery points; B2. Input the geographical coordinates of the flight exploration target, and set the exploration sampling interval, front gain, exploration collection and sleep status; In step C, the specific process of flight trajectory planning is as follows: C1. Determine the coordinates of the take-off point A and the expected end point B of the land exploration flight node device, and obtain the shortest path through the shortest path calculation formula. The shortest path calculation formula is as follows: ; Where dist represents the distance between the take-off point A and the expected end point B; d represents the shortest path distance between the take-off point A and the expected end point B; min path represents the shortest path function; Indicates all paths path i To Path i+1 The sum of the distances Path represents one of the paths between the take-off point A and the expected end point B; i represents a variable; Path i represents the i-th position on the path; Path i+1 represents the i+1th position on the path; C2. According to the obtained shortest path, add the obstacle grid points on the shortest path, avoid the obstacle grid points according to the shortest path, and obtain the best flight path; In step D, the specific process of executing the flight exploration mission is as follows: D1. The land exploration flight node device flies along the best flight path and monitors the geographic coordinate position, flight altitude and flight speed in real time through ultrasonic sensors and high-definition cameras. The land exploration flight node device arrives at the geographic coordinate position of the flight exploration target; D2. The land exploration flight node device detects the current altitude h and the target landing altitude h through ultrasonic sensors and high-definition cameras. target , and preset the safety height threshold h safe , when the current altitude h of the land exploration flight node device is lower than the safety altitude threshold h safe When the land exploration flight node device lands at a speed of V land Landing and gradually reducing the descent speed V descent , the ultrasonic sensor detects whether it is touching the ground. When it detects that it is touching the ground, the land exploration flight node device immediately stops descending and achieves a safe landing; Among them, the landing speed V of the land exploration flight node device land The calculation formula is as follows: V land =max(V min , V max -K h • / h (t) ); Among them, V min Indicates the minimum landing speed; V max Indicates the maximum landing speed; K h • is the height attenuation coefficient; h （t） Indicates the current altitude; max(x,y) means selecting the maximum value of x / y; D3. At this time, the driving motor drives the first bevel gear to rotate, so that the first bevel gear and the second bevel gear mesh and rotate, driving the transmission shaft to rotate in the cantilever, and then driving the mounting seat to rotate, so that the rotor mechanism rotates an angle. At this time, the rotor mechanism runs, pushing the tail vertebra at the bottom of the land exploration flight node device to rotate and insert into the ground, and the land exploration flight node device is deployed; D4. The land exploration flight node device collects and records exploration data through a moving coil detector. After the collection is completed, the driving motor drives the first bevel gear to rotate, so that the first bevel gear and the second bevel gear mesh and rotate, driving the transmission shaft to rotate in the cantilever, and then driving the mounting seat to rotate, so that the rotor mechanism rotates an angle. At this time, the rotor mechanism runs, pushing the tail vertebrae at the bottom of the land exploration flight node device to rotate out of the ground, and the land exploration flight node device can return to land at the recovery point.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The land exploration flight node device of the present invention can fly to a preset point for collection work, can autonomously collect seismic waves, and return after completing the data collection, which greatly reduces the labor intensity, improves work efficiency, and eliminates potential safety hazards; 2. When the rotor rotation mechanism and tail vertebra of the present invention are in use, the driving motor drives the first bevel gear to rotate, so that the first bevel gear and the second bevel gear mesh and rotate, driving the transmission shaft to rotate in the cantilever, and then driving the mounting seat to rotate, so that the rotor mechanism rotates an angle. At this time, the rotor mechanism is running to achieve a change in the rotor thrust angle, and the tail vertebra at the bottom of the land exploration flight node device is driven to rotate and insert into the ground, which can realize the land exploration flight node device to be quickly rotated into or out of the ground, speed up the working speed of the land exploration flight node device, and improve the stability of the land exploration flight node device during the exploration and collection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 3 It is a schematic diagram of the cross-sectional structure of the present invention.

[0017] In the figure: 1. cantilever bracket; 101. base; 102. cantilever; 103. through hole; 2. rotor rotation mechanism; 201. drive motor; 202. first bevel gear; 203. transmission shaft; 204. second bevel gear; 205. mounting seat; 3. rotor mechanism; 301. high-speed motor; 302. rotor; 4. guide cover; 5. lower shell; 6. tail vertebrae; 601. spiral pattern; 7. moving coil detector; 8. battery pack; 9. ultrasonic sensor; 10. high-definition camera; 11. communication charging port; 12. power circuit board; 13. seismic wave acquisition circuit board; 14. main control circuit board; 15. sensor circuit board; 16. cable; 17. shock-absorbing rubber pad; 18. pressure cover. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1-Figure 3 The land exploration flight node device provided by the present invention includes a cantilever bracket 1, the cantilever bracket 1 includes a base 101 and four cantilevers 102, and the four cantilevers 102 are arranged in a ring shape on the outer peripheral side of the base 101; A rotor rotation mechanism 2 is arranged in the cantilever bracket 1, and the rotor rotation mechanism 2 includes a driving motor 201, a first bevel gear 202, a transmission shaft 203, a second bevel gear 204 and a mounting seat 205; a through hole 103 is opened in the cantilever 102, and the transmission shaft 203 is rotatably arranged in the through hole 103 in the cantilever 102, and a second bevel gear 204 is arranged on one end of the transmission shaft 203 facing the base 101, and the driving motor 201 is arranged in the base 101, and the output end of the driving motor 201 is provided with a first bevel gear 202, and the first bevel gear 202 and the four second bevel gears 204 are all meshed and connected; the other end of the transmission shaft 203 extends out of the cantilever 102 and is provided with a mounting seat 205; The cantilever bracket 1 is provided with a rotor mechanism 3 connected to the rotor rotation mechanism 2, the rotor mechanism 3 is provided on the mounting seat 205, the transmission shaft 203 is a hollow structure, the transmission shaft 203 is provided with a cable 16 connected to the rotor mechanism 3, the rotor mechanism 3 is connected to the main control circuit board 14 through the cable 16, and the rotor mechanism 3 includes a high-speed motor 301 and a rotor 302; the high-speed motor 301 is provided on the mounting seat 205, and the output end of the high-speed motor 301 is provided with a rotor 302; A guide cover 4 and a lower shell 5 are respectively arranged on both sides of the middle of the cantilever bracket 1. A tail vertebra 6 is arranged at the bottom of the lower shell 5. The tail vertebra 6 is fixed to the bottom of the lower shell 5 by bolts. The tail vertebra 6 is a conical structure, and a spiral pattern 601 is arranged at the lower part of the tail vertebra 6 for inserting into the ground to ensure the stability of the land exploration flight node device when collecting seismic exploration data; When the rotor rotation mechanism 2 and the tail cone 6 of the present invention are used, the driving motor 201 drives the first bevel gear 202 to rotate, so that the first bevel gear 202 and the second bevel gear 204 mesh and rotate, driving the transmission shaft 203 to rotate in the cantilever 102, and then driving the mounting seat 205 to rotate, so that the rotor mechanism 3 rotates an angle. At this time, the rotor mechanism 3 is running, realizing the change of the thrust angle of the rotor 302, and pushing the tail cone 6 at the bottom of the land exploration flight node device to rotate and insert into the ground, so that the land exploration flight node device can be quickly rotated into or out of the ground, accelerating the working speed of the land exploration flight node device, and improving the stability of the land exploration flight node device during the exploration and collection process; A dynamic geophone 7 and a battery pack 8 are arranged in the lower shell 5. The battery pack 8 is arranged above the dynamic geophone 7. A shock-absorbing rubber pad 17 is arranged between the dynamic geophone 7 and the battery pack 8 to protect the battery pack 8 from vibration damage. The upper part of the battery pack 8 is fixed in the lower shell 5 by a gland 18 and bolts. The gland 18 can compress the battery pack 8 to improve the firmness of the battery pack 8. An ultrasonic sensor 9, a high-definition camera 10 and a communication charging port 11 are arranged on the cantilever bracket 1. The ultrasonic sensor 9 can sense the surrounding environment of the flight and realize the functions of accurate positioning of the flight node and data transmission. A power supply circuit board 12, a seismic wave acquisition circuit board 13, a main control circuit board 14 and a sensor circuit board 15 are arranged in the guide cover 4; The battery pack 8 is connected to the power circuit board 12, and the power circuit board 12 is connected to the seismic wave acquisition circuit board 13, the main control circuit board 14 and the sensor circuit board 15 to provide power for the entire device; The dynamic detector 7 is connected to the seismic wave acquisition circuit board 13, and is used to transmit the collected seismic wave signal to the seismic wave acquisition circuit board 13 for processing. The ultrasonic sensor 9 is connected to the sensor circuit board 15, and is used to transmit the collected echo signal to the sensor circuit board 15 for processing. The high-definition camera 10 and the communication charging port 11 are both connected to the main control circuit board 14. The high-definition camera 10 is used to shoot video or image data, and transmit the video or image data to the main control circuit board 14 for processing and storage. The communication charging port 11 realizes data communication and battery charging functions. The seismic wave acquisition circuit board 13 and the sensor circuit board 15 are both connected to the main control circuit board 14. The main control circuit board 14 is used to sum, store and transmit device data, and realize data communication with external devices through the communication charging port 11; The dynamic coil geophone 7 is a velocity-type geophone used to detect seismic waves, which can convert the mechanical energy of ground vibration into electrical signals. In the flight node device, the dynamic coil geophone is responsible for collecting seismic wave signals and transmitting them to the seismic wave collection circuit board for preliminary processing; The high-definition camera 10 is used to shoot videos or images, mainly for on-site monitoring and recording. In the flight node device, the high-definition camera can capture environmental changes during the flight, provide visual data support, and help operators perform remote monitoring and data analysis.

[0020] The land exploration flight node device in the present invention can fly to a preset point for collection work, can autonomously collect seismic waves, and return after the data collection is completed, which greatly reduces the intensity of manual labor, improves work efficiency, and eliminates potential safety hazards.

[0021] The method for using the land exploration flight node device provided by the present invention comprises the following steps: A. Flight preparation: Connect the computer to the communication charging port 11 of the land exploration flight node device to check whether the initialization status of the land exploration flight node device is normal. If not, repair the land exploration flight node device; if normal, disconnect the computer connection, turn on the land exploration flight node device, wait for the land exploration flight node device system self-check to complete, and check the reported self-check status through the handheld device, and wait for flight; B. Preset flight exploration missions: According to the geographical location of the flight exploration target, the flight parameters and exploration mission parameters of the land exploration flight node device are set through the handheld device; In step B, the specific process of presetting the flight exploration mission is as follows: B1. According to the geographical location of the flight exploration target, set the flight altitude H and maximum flight speed V of the land exploration flight node device through the handheld device. max , flight hovering time T honer , Landing speed V land and landing recovery points; B2. Input the geographical coordinates of the flight exploration target, and set the exploration sampling interval, front gain, exploration collection and sleep status; C. Flight trajectory planning: The land exploration flight node device performs flight exploration tasks according to the set flight parameters and exploration mission parameters, optimizes the flight path, and obtains the best flight path; In step C, the specific process of flight trajectory planning is as follows: C1. Determine the coordinates of the take-off point A and the expected end point B of the land exploration flight node device, and obtain the shortest path through the shortest path calculation formula. The shortest path calculation formula is as follows: ; Where dist represents the distance between the take-off point A and the expected end point B; d represents the shortest path distance between the take-off point A and the expected end point B; min path represents the shortest path function; Indicates all paths path i To Path i+1 The sum of the distances Path represents one of the paths between the take-off point A and the expected end point B; i represents a variable; Path i represents the i-th position on the path; Path i+1 represents the i+1th position on the path; C2. According to the obtained shortest path, add the obstacle grid points on the shortest path, avoid the obstacle grid points according to the shortest path, and obtain the best flight path; D. Execution of flight exploration missions: The land exploration flight node device arrives at the flight exploration target geographical location according to the best flight path and lands, so that the tail vertebra 6 of the land exploration flight node device is inserted into the ground, and then the exploration mission begins. After the exploration mission is completed, the land exploration flight node device returns; In step D, the specific process of executing the flight exploration mission is as follows: D1. The land exploration flight node device flies according to the optimal flight path, and monitors the geographical coordinate position, flight altitude and flight speed in real time through the ultrasonic sensor 9 and the high-definition camera 10. The land exploration flight node device arrives at the geographical coordinate position of the flight exploration target; D2. The land exploration flight node device detects the current height h through the ultrasonic sensor 9 and the high-definition camera 10. t and target landing altitude h target , and preset the safety height threshold h safe , when the current altitude of the land exploration flight node device h t Below the safety height threshold h safe When the land exploration flight node device lands at a speed of V land Landing and gradually reducing the descent speed V descent , the ultrasonic sensor 9 detects whether it is touching the ground. When it is detected that it is touching the ground, the land exploration flight node device immediately stops descending to achieve a safe landing; Among them, the landing speed V of the land exploration flight node device land The calculation formula is as follows: V land =max(V min , V max -K h• / h (t) ); Among them, V min Indicates the minimum landing speed; V max Indicates the maximum landing speed; K h • is the height attenuation coefficient; h （t） Indicates the current altitude; max(x,y) means selecting the maximum value of x / y; D3. At this time, the driving motor 201 drives the first bevel gear 202 to rotate, so that the first bevel gear 202 and the second bevel gear 204 mesh and rotate, driving the transmission shaft 203 to rotate in the cantilever 102, and then driving the mounting seat 205 to rotate, so that the rotor mechanism 3 rotates an angle. At this time, the rotor mechanism 3 runs, pushing the tail vertebra 6 at the bottom of the land exploration flight node device to rotate and insert into the ground, and the land exploration flight node device is deployed; D4. The land exploration flight node device collects and records exploration data through the dynamic coil detector 7. After the collection is completed, the driving motor 201 drives the first bevel gear 202 to rotate, so that the first bevel gear 202 and the second bevel gear 204 mesh and rotate, driving the transmission shaft 203 to rotate in the cantilever 102, and then driving the mounting seat 205 to rotate, so that the rotor mechanism 3 rotates an angle. At this time, the rotor mechanism 3 runs, pushing the tail vertebra 6 at the bottom of the land exploration flight node device to rotate out of the ground, and the land exploration flight node device returns to the landing recovery point; E. Exploration data acquisition: By connecting the computer to the communication charging port 11 of the land exploration flight node device, the exploration data of the land exploration flight node device can be transmitted to the computer.

[0022] The method for using the land exploration flight node device of the present invention is as follows: during the flight preparation stage, the communication charging port is connected to the computer to check the initialization status of the device. If the status is abnormal, it can be repaired in time to ensure that the device is in the best condition before flight, avoiding exploration failures due to equipment failures. The flight exploration mission is preset by the handheld device, and parameters such as flight altitude, maximum flight speed, hovering time, landing speed and landing recovery point can be flexibly set. The precise setting of these parameters helps to adapt to different exploration needs and environmental conditions, and improve the controllability and safety of the flight. Through the shortest path calculation formula and obstacle avoidance algorithm, the device can automatically plan the best flight path, which not only shortens the flight time, but also avoids potential flight risks, ensuring the safety and efficiency of the flight. During the flight, the device monitors the geographic coordinate position, flight altitude and flight speed in real time through ultrasonic sensors and high-definition cameras, and when approaching the ground When the device is in flight, the preset safety altitude threshold and landing speed formula are used to ensure that the device can land smoothly and safely, which greatly reduces the risk of damage caused by misjudgment of altitude. The dynamic coil geophone can collect seismic data with high precision, and perform preliminary processing and transmission through the main control circuit board to ensure the accuracy and reliability of the exploration data, providing a solid foundation for subsequent exploration data analysis and decision-making. The entire flight exploration process is highly automated, reducing dependence on manpower. From flight preparation to data acquisition to data transmission, each link has achieved efficient operation, significantly reducing labor costs and labor intensity. The device can be quickly deployed in various terrains and environments, whether it is plains, mountains or forests, it can be quickly put into use. This high adaptability enables the device to play an important role in different geological exploration projects, ensuring the efficiency, safety and accuracy of the device in flight exploration, and bringing significant improvements to geological exploration work.

[0023] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A land exploration flight node device, characterized in that: It comprises a cantilever bracket (1), a rotor rotating mechanism (2) being arranged inside the cantilever bracket (1), and a rotor mechanism (3) connected to the rotor rotating mechanism (2) being arranged on the cantilever bracket (1); A guide cover (4) and a lower shell (5) are respectively arranged on both sides of the middle of the cantilever bracket (1), and a tail vertebra (6) is arranged at the bottom of the lower shell (5); A moving coil geophone (7) and a battery pack (8) are arranged in the lower housing (5); an ultrasonic sensor (9), a high-definition camera (10) and a communication charging port (11) are arranged on the cantilever bracket (1); and a power supply circuit board (12), a seismic wave acquisition circuit board (13), a main control circuit board (14) and a sensor circuit board (15) are arranged in the guide cover (4).

2. A land exploration flight node device according to claim 1, characterized in that: The battery pack (8) is connected to the power circuit board (12), and the power circuit board (12) is connected to the seismic wave acquisition circuit board (13), the main control circuit board (14) and the sensor circuit board (15); The moving coil geophone (7) is connected to the seismic wave acquisition circuit board (13), the ultrasonic sensor (9) is connected to the sensor circuit board (15), the high-definition camera (10) and the communication charging port (11) are both connected to the main control circuit board (14), and the seismic wave acquisition circuit board (13) and the sensor circuit board (15) are both connected to the main control circuit board (14).

3. A land exploration flight node device according to claim 1, characterized in that: The cantilever support (1) comprises a base (101) and four cantilevers (102), wherein the four cantilevers (102) are arranged in a ring shape on the outer peripheral side of the base (101).

4. A land exploration flight node device according to claim 3, characterized in that: The rotor rotation mechanism (2) comprises a drive motor (201), a first bevel gear (202), a transmission shaft (203), a second bevel gear (204) and a mounting seat (205); A through hole (103) is provided in the cantilever (102); the transmission shaft (203) is rotatably arranged in the through hole (103) in the cantilever (102); the second bevel gear (204) is arranged at one end of the transmission shaft (203) facing the base (101); the drive motor (201) is arranged in the base (101); the output end of the drive motor (201) is provided with the first bevel gear (202); the first bevel gear (202) and the four second bevel gears (204) are all meshedly connected; The other end of the transmission shaft (203) extends out of the cantilever (102) and is provided with the mounting seat (205).

5. A land exploration flight node device according to claim 4, characterized in that: The rotor mechanism (3) is arranged on the mounting seat (205); the transmission shaft (203) is a hollow structure; a cable (16) connected to the rotor mechanism (3) is arranged inside the transmission shaft (203); and the rotor mechanism (3) is connected to the main control circuit board (14) via the cable (16).

6. A land exploration flight node device according to claim 5, characterized in that: The rotor mechanism (3) comprises a high-speed motor (301) and a rotor (302); The high-speed motor (301) is arranged on the mounting seat (205), and the rotor (302) is arranged at the output end of the high-speed motor (301).

7. A land exploration flight node device according to claim 1, characterized in that: The tail vertebra (6) is fixedly arranged at the bottom of the lower shell (5) by means of bolts, the tail vertebra (6) is a conical structure, and a spiral pattern (601) is arranged at the lower part of the tail vertebra (6).

8. The land exploration flight node device according to claim 1, characterized in that: The battery pack (8) is arranged above the moving coil detector (7), a shock-absorbing rubber pad (17) is arranged between the moving coil detector (7) and the battery pack (8), and the top of the battery pack (8) is fixedly arranged in the lower housing (5) via a pressure cover (18) and bolts.

9. A method for using a land exploration flight node device according to any one of claims 1 to 8, characterized in that: The steps include: A. Flight preparation: Connecting the computer to the communication charging port (11) of the land exploration flight node device to check whether the initialization state of the land exploration flight node device is normal. If not, repairing the land exploration flight node device; If normal, disconnect the computer, turn on the land exploration flight node device, wait for the land exploration flight node device system self-check to complete, check the self-check status reported by the handheld device, and wait for flight; B. Preset flight exploration missions: According to the geographical location of the flight exploration target, the flight parameters and exploration mission parameters of the land exploration flight node device are set through the handheld device; C. Flight trajectory planning: The land exploration flight node device performs flight exploration tasks according to the set flight parameters and exploration mission parameters, optimizes the flight path, and obtains the best flight path; D. Execution of flight exploration missions: The land exploration flight node device arrives at the flight exploration target geographical location according to the best flight path and lands, so that the tail vertebra (6) of the land exploration flight node device is inserted into the ground, and then the exploration mission begins. After the exploration mission is completed, the land exploration flight node device returns; E. Exploration data acquisition: The computer can be connected to the communication charging port (11) of the land exploration flight node device to transmit the exploration data of the land exploration flight node device to the computer.

10. The method for using a land exploration flight node device according to claim 9, characterized in that: In step B, the specific process of presetting the flight exploration mission is as follows: B1. According to the geographical location of the flight exploration target, set the flight altitude H and maximum flight speed V of the land exploration flight node device through the handheld device. max , flight hovering time T honer , Landing speed V land and landing recovery points; B2. Input the geographical coordinates of the flight exploration target, and set the exploration sampling interval, front gain, exploration collection and sleep status; In step C, the specific process of flight trajectory planning is as follows: C1. Determine the coordinates of the take-off point A and the expected end point B of the land exploration flight node device, and obtain the shortest path through the shortest path calculation formula. The shortest path calculation formula is as follows: ； Where dist represents the distance between the take-off point A and the expected end point B; d represents the shortest path distance between the take-off point A and the expected end point B; min path represents the shortest path function; Indicates all paths path i To Path i+1 The sum of the distances Path represents one of the paths between the take-off point A and the expected end point B; i represents a variable; Path i represents the i-th position on the path; Path i+1 represents the i+1th position on the path; C2. According to the obtained shortest path, add the obstacle grid points on the shortest path, avoid the obstacle grid points according to the shortest path, and obtain the best flight path; In step D, the specific process of executing the flight exploration mission is as follows: D1, the land exploration flight node device flies according to the best flight path, and monitors the geographical coordinate position, flight altitude and flight speed in real time through the ultrasonic sensor (9) and the high-definition camera (10), and the land exploration flight node device arrives at the geographical coordinate position of the flight exploration target; D2. The land exploration flight node device detects the current altitude h through the ultrasonic sensor (9) and the high-definition camera (10). （t） and target landing altitude h target , and preset the safety height threshold h safe , when the current altitude of the land exploration flight node device h （t） Below the safety height threshold h safe When the land exploration flight node device lands at a speed of V land Land and gradually reduce the descent speed V descent , detecting whether the ground is in contact with the ultrasonic sensor (9); when the ground is in contact with the ultrasonic sensor (9), the land exploration flight node device immediately stops descending to achieve a safe landing; Among them, the landing speed V of the land exploration flight node device land The calculation formula is as follows: V land =max(V min ,V max -K h • / h (t) ); Among them, V min Indicates the minimum landing speed; V max Indicates the maximum landing speed; K h • is the height attenuation coefficient; h （t） Indicates the current altitude; max(x,y) means selecting the maximum value of x / y; D3. At this time, the driving motor (201) drives the first bevel gear (202) to rotate, so that the first bevel gear (202) and the second bevel gear (204) mesh and rotate, driving the transmission shaft (203) to rotate in the cantilever (102), thereby driving the mounting seat (205) to rotate, so that the rotor mechanism (3) rotates an angle. At this time, the rotor mechanism (3) operates, pushing the tail vertebra (6) at the bottom of the land exploration flight node device to rotate and insert into the ground, and the deployment of the land exploration flight node device is completed; D4. The land exploration flight node device collects and records exploration data through the moving coil detector (7). After the collection is completed, the driving motor (201) drives the first bevel gear (202) to rotate, so that the first bevel gear (202) and the second bevel gear (204) are meshed and rotated, driving the transmission shaft (203) to rotate in the cantilever (102), thereby driving the mounting seat (205) to rotate, so that the rotor mechanism (3) rotates an angle. At this time, the rotor mechanism (3) operates, pushing the tail vertebrae (6) at the bottom of the land exploration flight node device to rotate and leave the ground, and the land exploration flight node device can return to land at the recovery point.

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