An unmanned aerial vehicle seismograph for hard rock areas

Abstract

The present invention discloses a drone seismograph for hard rock areas, comprising a drone body; a mainframe connecting frame, which is rotatably connected to the lower part of the drone body and is locked and fixed to the drone body through a first locking device; a torque amplifier, which is arranged below the drone body and is used for amplifying the torque provided when the drone body rotates; a conversion system, which includes a connecting disc, a second locking device and a converter, and the connecting disc is connected to the torque amplifier. Firstly, the present invention can achieve precise layout of the seismograph through the drone body and ensure the stable attitude of the seismograph; secondly, through components such as a drilling system, reliable contact between the sensor and the target detection ground surface can be achieved, thereby improving the accuracy of receiving seismic wave signals; thirdly, after the device completes the acquisition work, the device can be recovered by controlling the drone body.

Description

Technical Field

[0001] The present invention relates to the technical field of complex environmental geological surveys, and particularly relates to an unmanned aerial vehicle seismograph in hard rock areas. Background Art

[0002] In recent years, seismic methods based on seismic arrays have developed rapidly and have been widely used in global and regional studies of the Earth's interior structure, seismic geological disasters, and oil and gas field exploration and development. The traditional layout method of seismic arrays is to lay them manually on the ground. However, in areas with complex and harsh environments such as deserts, gobi, and snowy plateaus, restricted by human living conditions and road traffic, it is quite difficult to manually lay seismic arrays, often endangering the lives, health, and safety of relevant personnel. After a major earthquake, due to damaged roads and interrupted communications, it is very difficult for ground personnel to reach the epicenter in the first place for accurate monitoring of geological disasters such as aftershocks and landslides. To solve the above problems, in recent years, a method of deploying seismographs by high-altitude dropping has gradually been adopted. For example, a seismic data acquisition station layout and data acquisition system of an aircraft carrier type disclosed in the Chinese invention patent application with the application number 2014104063796, and an unmanned aerial vehicle airborne seismograph disclosed in the Chinese utility model patent with the patent number 2022210766981, etc.

[0003] However, existing aircraft carrier type seismic acquisition station layout and data acquisition systems, parachute drop type seismographs, and seismic array layout methods all use parachutes to achieve the landing of the instrument, and still have the following problems: First, the descent process of the seismograph equipment is uncontrollable and is easily affected by the environment (such as wind), making it difficult to accurately reach the target position; second, the attitude of the seismograph after landing is uncontrollable. Especially for target positions that are uneven or have foreign objects, the seismograph may tip over or land unstably; third, for hard rock areas or other types of hard surfaces, it is difficult for the sensors of the seismograph to form effective physical contact with the ground, resulting in difficulty in accurately receiving seismic wave signals. These problems will all affect the accuracy of the detection data of the seismograph; fourth, it is difficult to recover the equipment after the detection task is completed. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects existing in the prior art and provide an unmanned aerial vehicle seismograph in hard rock areas, which can complete the layout and data acquisition of the seismograph in hard rock areas or other hard surface areas, and after the acquisition is completed, the controllable recovery of the seismograph can be achieved, overcoming problems such as the uncontrollable layout position and attitude of the instrument during deployment using the prior art and the difficulty in laying in hard rock areas.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A hard rock area unmanned aerial vehicle seismometer, comprising: an unmanned aerial vehicle body; a main engine connecting frame, the main engine connecting frame is rotatably connected to the lower part of the unmanned aerial vehicle body, and the main engine connecting frame is locked and fixed to the unmanned aerial vehicle body through a first lock, when the first lock is opened, the unmanned aerial vehicle body can rotate on the main engine connecting frame; a torque amplifier, which is arranged below the unmanned aerial vehicle body and is used to amplify the torque provided when the unmanned aerial vehicle body rotates; a conversion system, the conversion system comprising a connection disk, a second lock and a converter, the connection disk is connected to the torque amplifier, and the converter is rotatably connected to the connection disk A steering motor is installed on the connecting disk, and a second locker is also installed on the connecting disk, which is used to lock the converter to prevent the converter from rotating; the conversion system is located between the torque increaser and the drilling system and the seismograph loading and unloading system, and is used to adjust the matching relationship between the torque increaser and the drilling system and the seismograph loading and unloading system, and connect and switch the drilling system and the seismograph loading and unloading system through the converter; the seismograph loading and unloading system, the seismograph loading and unloading system is connected to the converter, and is used to install and disassemble the seismograph; the drilling system, the drilling system is connected to the converter, and is used to drill ground rocks.

[0007] Preferably, the torque amplifier includes a drone body connecting gear, a power-assisting motor, a first transmission gear, a second transmission gear and an output gear, wherein the drone body connecting gear is connected to the drone body and meshes with the second transmission gear, the second transmission gear meshes with the output gear, and the power-assisting motor is connected to the output gear through the first transmission gear. The cooperation of the power-assisting motor and the gear set can better provide power for drilling.

[0008] Preferably, an adjustable arm is fixed on the outer wall of the drone body, and the adjustable arm is a retractable structure. A drone rotor is installed on the upper part of the end of the adjustable arm away from the drone body. When in use, the angle of the drone rotor is adjusted by rotating the drone body, and the torque can be adjusted by controlling the length of the adjustable arm. When the drilling system starts working, the speed and angle of the drone rotor and the length of the adjustable arm are adjusted to ensure that the drone body can adaptively adjust to offset the reaction force during the drilling process. The drone body actively generates a reverse torque to balance the torque of the drill bit when it rotates by adjusting the speed and angle of the drone rotor. At the same time, by increasing the overall thrust of the drone rotor, a greater downward lift is provided to offset the reaction force generated when the drill bit drills into the material.

[0009] Preferably, a telescopic leg is installed on the outer side of the torque increaser on the host connecting frame. A leg drill is provided at the bottom of the telescopic leg. The telescopic leg can be telescopically adjusted according to the landing posture of the UAV to keep the UAV body in a horizontal state. The provided leg drill drills into the hard ground to ensure the stability of the telescopic leg and the overall stability of the UAV body.

[0010] Preferably, a loosening agent injector is installed on the outer side of the torque increaser at the bottom of the host connecting frame. The bottom of the loosening agent injector is conductively connected to a telescopic infusion tube, and a solenoid valve is provided in the infusion tube to control the conduction or closing of the infusion tube. Specifically, the loosening agent injector stores a loosening agent (such as an acidic solution that can corrode rocks). When the seismograph is fixed and drilled, the loosening agent can be sprayed through the infusion tube to corrode the rocks and reduce the rock strength. When the seismograph is recovered, the loosening agent can be sprayed through the infusion tube to dissolve the consolidant and the surrounding rocks, loosening the base for easy recovery.

[0011] Preferably, a consolidant injector is installed on the outer side of the torque increaser at the bottom of the host connecting frame. The bottom of the consolidant injector is also conductively connected to a telescopic infusion tube, and a solenoid valve is also provided in the infusion tube to control the conduction or closing of the infusion tube. Specifically, the consolidant injector stores a consolidant, which is used to pour the consolidant into the excavated hole to increase the stability of the base.

[0012] Preferably, the seismograph loading and unloading system includes a telescopic transmission shaft and a base gripper. The telescopic transmission shaft is connected to the converter, and a base gripper is installed at the bottom of the telescopic transmission shaft.

[0013] Preferably, the seismograph loading and unloading system further includes a base, a seismograph host, and a direction regulator. The seismograph host is installed on the base through the direction regulator. A seismograph fastener is also installed between the seismograph host and the base. A base drilling tail vertebra is installed on the lower surface of the base. Specifically, the seismograph host includes an independent GPS, an attitude sensor, a multi-component geophone, and a data recording and transmission device. The direction regulator is used to connect the seismograph host and the base, and at the same time, according to the data of the attitude sensor, rotate and adjust the azimuth angle of the seismograph host to ensure that the seismograph sensor is located in appropriate azimuths such as horizontal, due east, and due north. The direction regulator can be a rotating base or a pan-tilt head. The seismograph fastener connects the seismograph host and the base to prevent the loosening of the direction regulator from deteriorating the coupling effect. That is, after the azimuth angle of the seismograph host is adjusted by the direction regulator, the seismograph host and the base can be relatively limited by the seismograph fastener. The seismograph fastener can be a telescopic pin shaft, and by setting a pin shaft on the base and telescopically inserting it into the seismograph host, the relative limitation between the seismograph host and the base is completed.

[0014] Preferably, the outer wall of the base drilling tail vertebra has spiral threads and is conical. Specifically, the base drilling tail vertebra is connected to the surface rock mass and the base through drilling to achieve the fixed installation of the base.

[0015] Preferably, the drilling system includes a telescopic drill rod and a drill bit. The telescopic drill rod is connected to the converter, and the drill bit is installed at the bottom end of the telescopic drill rod. Specifically, by controlling the transmission of power through the telescopic drive shaft, the telescopic drill rod and the drill bit are driven to move. The drill bit is a multi-point abrasion drill bit for grinding the surface rock.

[0016] Compared with the prior art, the unmanned aerial vehicle seismograph in the hard rock area of the present invention has the following beneficial effects: First, the accurate layout of the seismograph can be achieved through the unmanned aerial vehicle body, and the attitude stability of the seismograph can be ensured; second, through components such as the drilling system, reliable contact between the sensor and the target detection surface can be achieved, thereby improving the accuracy of receiving seismic wave signals; third, after the acquisition work of this device is completed, the recovery of this device can be achieved by controlling the unmanned aerial vehicle body. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the structure of the unmanned aerial vehicle body of the present invention;

[0019] Figure 3 It is a schematic diagram of the structure of the torque booster in the present invention;

[0020] Figure 4 It is the front view of the conversion system in the present invention;

[0021] Figure 5 It is the bottom view of the conversion system in the present invention;

[0022] Figure 6 It is the front view of the seismograph loading and unloading system in the present invention;

[0023] Figure 7 It is a schematic diagram of the structure of the seismograph main unit in the present invention;

[0024] Figure 8 It is the front view of the drilling system in the present invention.

[0025] Reference numerals: 1, unmanned aerial vehicle body; 11, adjustable arm; 12, unmanned aerial vehicle rotor; 13, telescopic leg; 14, leg drill; 2, host connecting frame; 3, first lock; 4, torque amplifier; 41, unmanned aerial vehicle body connecting gear; 42, boosting motor; 43, first transmission gear; 44, second transmission gear; 45, output gear; 5, loosening agent injector; 51, infusion tube; 6, consolidating agent injector; 71, connecting plate; 72, second lock; 73, steering motor; 74, converter; 8, seismograph loading and unloading system; 81, telescopic transmission shaft; 82, base gripper; 83, seismograph host; 84, direction regulator; 85, base; 86, base drill tail vertebra; 87, seismograph fastener; 9, drilling system; 92, telescopic drill pipe; 93, drill bit. Detailed implementation manners

[0026] The following combines the attached Figure 1 - attached Figure 8 , and further describes the detailed implementation manners of an unmanned aerial vehicle seismograph in hard rock areas of the present invention. The unmanned aerial vehicle seismograph in hard rock areas of the present invention is not limited to the descriptions of the following embodiments.

[0027] Embodiment 1:

[0028] This embodiment provides an unmanned aerial vehicle seismograph in hard rock areas, including: an unmanned aerial vehicle body 1; a host connecting frame 2, the host connecting frame 2 is rotatably connected to the lower part of the unmanned aerial vehicle body 1, and the host connecting frame 2 is locked and fixed to the unmanned aerial vehicle body 1 through a first lock 3. When the first lock 3 is opened, the unmanned aerial vehicle body 1 can rotate on the host connecting frame 2; a torque amplifier 4, which is arranged below the unmanned aerial vehicle body 1 and is used to amplify the torque provided when the unmanned aerial vehicle body 1 rotates; a conversion system, the conversion system includes a connecting plate 71, a second lock 72 and a converter 74, the connecting plate 71 is connected to the torque amplifier 4, the converter 74 is rotatably connected to the connecting plate 71, a steering motor 73 is installed on the connecting plate 71, and a second lock 72 is also installed on the connecting plate 71, which is used to lock the converter 74 to prevent the converter 74 from rotating; the conversion system is located between the torque amplifier 4, the drilling system 8 and the seismograph loading and unloading system 9, and is used to adjust the matching relationship between the torque amplifier 4, the drilling system 8 and the seismograph loading and unloading system 9, and connect and switch the drilling system 9 and the seismograph loading and unloading system 8 through the converter 74; a seismograph loading and unloading system 8, the seismograph loading and unloading system 8 is connected to the converter 74 and is used to realize the installation and disassembly of the seismograph; a drilling system 9, the drilling system 9 is connected to the converter 74 and is used to drill the ground rock. Specifically, the unmanned aerial vehicle body can adopt an existing multi-wing unmanned aerial vehicle structure, and its function is to provide a controllable flight carrier for other components of this device. The function of the host connecting frame is to open or lock the relative movement function with the unmanned aerial vehicle body, so as to match the working states of flight or drilling of this device.

[0029] As an alternative technical solution, the torque booster 4 includes a UAV body connecting gear 41, a boosting motor 42, a first transmission gear 43, a second transmission gear 44, and an output gear 45. The UAV body connecting gear 41 is connected to the UAV body 1 and meshed with the second transmission gear 44. The second transmission gear 44 is meshed with the output gear 45. The boosting motor 42 is drivingly connected to the output gear 45 through the first transmission gear 43. Through the cooperation of the boosting motor 42 and the gear set, power can be better provided for drilling.

[0030] As an alternative technical solution, the seismograph loading and unloading system 8 includes a telescopic transmission shaft 81 and a base gripper 82. The telescopic transmission shaft 81 is connected to the converter 74, and the base gripper 82 is installed at the bottom end of the telescopic transmission shaft 81. The base gripper 82 is a prior art with a concave structure. The two vertical ends of the concave-structured base gripper 82 are driven by electricity or hydraulics to move closer to each other to achieve clamping, and the two vertical ends of the concave-structured base gripper 82 are controlled to move away from each other to release the clamping.

[0031] As an alternative technical solution, the seismograph loading and unloading system 8 further includes a base 85, a seismograph main unit 83, and a direction regulator 84. The seismograph main unit 83 is installed on the base 85 through the direction regulator 84. A seismograph fastener 87 is also installed between the seismograph main unit 83 and the base 85, and a base drilling tail vertebra 86 is installed on the lower surface of the base 85. Specifically, the seismograph main unit 83 includes an independent GPS, an attitude sensor, a multi-component geophone, and a data recording and transmission device; the direction regulator 84 is used to connect the seismograph main unit 83 and the base 85, and can rotate and adjust the azimuth angle of the seismograph main unit 83 according to the data of the attitude sensor to ensure that the seismograph sensor is in appropriate azimuths such as horizontal, due east, and due north. Among them, the direction regulator 84 can be a rotating base or a pan-tilt head. The seismograph fastener 87 connects the seismograph main unit 83 and the base 85 to prevent the loosening of the direction regulator 84 from deteriorating the coupling effect. That is, after the azimuth angle of the seismograph main unit 83 is adjusted by the direction regulator 84, the seismograph main unit 83 and the base 85 can be relatively limited by the seismograph fastener 87. The seismograph fastener 87 can be a telescopic pin shaft, and the pin shaft is telescopically inserted into the seismograph main unit 83 on the base 85 to complete the relative limitation between the seismograph main unit 83 and the base 85.

[0032] As an alternative technical solution, the outer wall of the base drilling tail vertebra 86 has spiral threads and is conical. Specifically, the base drilling tail vertebra 86 is connected to the surface rock mass through a drill hole and the base 85 to realize the fixed installation of the base 85, thereby realizing the effective conduction of seismic wave signals.

[0033] As an alternative technical solution, the drilling system 9 includes a telescopic drill rod 92 and a drill bit 93. The telescopic drill rod 92 is connected to the converter 74, and the drill bit 93 is installed at the bottom end of the telescopic drill rod 92. Specifically, by controlling the telescopic transmission shaft 81 to drive the power, the telescopic drill rod 92 and the drill bit 93 are driven to move. The drill bit 93 is a multi-point abrasion drill bit for grinding the surface rock.

[0034] In this embodiment, the working process of the hard rock area unmanned aerial vehicle (UAV) seismograph is as follows: After the UAV body 1 lands, the attitude sensor measures the position and attitude data; according to the attitude data, the telescopic legs 13 are adjusted to extend and retract to keep the UAV body 1 horizontal; the leg drill 14 is controlled to work to drill the surface of the ground to keep the UAV body 1 stable; the second lock 72 is opened, the steering motor 73 adjusts the converter 74 to make the drilling system 9 located at the center, the second lock 72 locks, the telescopic transmission shaft 81 extends to connect the drilling system 9, the first lock 3 is opened, the adjustable arm 11 is controlled to extend and rotate 90 degrees, and the UAV rotor 12 is perpendicular to the ground; the booster motor 42 of the torque booster 4 is controlled to work, the UAV main body 1 rotates to output power, the drilling system 9 digs down the rock, drills to the specified depth to form a borehole, the telescopic drill rod 92 contracts, and the power output stops; the second lock 72 is opened, the steering motor 73 adjusts the converter 74 to make the seismograph loading and unloading system 8 located at the center, the second lock 72 locks, the telescopic transmission shaft 81 presses down to connect the seismograph loading and unloading system 8, the booster motor 42 of the torque booster 4 is controlled to work, the UAV main body 1 rotates to output power, the base drill tail vertebra 86 is screwed into the borehole, the consolidant is poured to bond the base drill tail vertebra 86 and the rock, the first lock 3 locks, the seismograph main body 83 feeds back the azimuth information, the direction regulator 84 adjusts the azimuth to a certain angle, the seismograph fastener 87 locks the seismograph main body 83 and the base 85, the base gripper 82 is controlled to release, the seismograph main body 83 is powered on to collect seismic data, after the seismic data collection is completed, the seismograph main body 83 is powered off, the loosening agent is poured to corrode the rock and the consolidant, the base gripper 82 tightens, the first lock 3 is opened, the booster motor 42 of the torque booster 4 is controlled to work, the UAV main body 1 rotates to output power, the base drill tail vertebra 86 is screwed out of the borehole, the power output stops, the telescopic transmission shaft 81 contracts, the first lock 3 locks, the adjustable arm 11 contracts, the UAV rotor 12 resets, the leg drill 14 rotates outwards, the whole machine is detached from the ground fixation, the UAV body 1 takes off and returns, and the telescopic legs 13 reset.

[0035] Specifically, the hard rock area UAV seismograph can complete the layout and data collection of the seismograph in the hard rock area, and after the collection is completed, the controllable recovery of the seismograph can be realized, overcoming the problems in the prior art such as inaccurate layout position and attitude of the instrument during layout by dropping, and difficulty in layout in areas such as hard rock.

[0036] Embodiment 2

[0037] This embodiment specifically discloses the specific structure of the UAV body 1 on the basis of the above embodiment, and provides a rotatable UAV body 1, adjustable arms 11 and UAV rotors 12, so that when the drilling system 9 starts to work, the rotation speed and angle of the UAV rotors 12 and the length of the adjustable arms 11 can be adjusted, ensuring that the UAV body 1 can adaptively adjust to counteract the reaction force during the drilling process.

[0038] As an alternative technical solution, an adjustable arm 11 is also fixed on the outer wall of the UAV body 1. The adjustable arm 11 is a telescopic structure. A UAV rotor 12 is installed on the upper part of the end of the adjustable arm 11 away from the UAV body 1. During use, by rotating the UAV body 1, the angle of the UAV rotor 12 can be adjusted, and the length of the adjustable arm 11 can be controlled to adjust the torque. When the drilling system 9 starts to work, the rotation speed and angle of the UAV rotor 12 and the length of the adjustable arm 11 can be adjusted, ensuring that the UAV body 1 can adaptively adjust to counteract the reaction force during the drilling process. The UAV body 1 actively generates a reverse torque by adjusting the rotation speed and angle of the UAV rotor 12 to balance the torque when the drill bit 93 rotates, and at the same time, by increasing the overall thrust of the UAV rotor 12, a greater downward lift force is provided to counteract the reaction force generated when the drill bit 93 drills into the material.

[0039] As an alternative technical solution, a telescopic leg 13 is installed on the mainframe connection frame 2 outside the torque amplifier 4. A leg drill 14 is provided at the bottom end of the telescopic leg 13. The telescopic leg 13 can be telescopically adjusted according to the landing attitude of the UAV to keep the UAV body 1 in a horizontal state. The provided leg drill 14 drills into the hard ground to ensure the stability of the telescopic leg 13 and the overall stability of the UAV body 1.

[0040] As an alternative technical solution, a loosening agent injector 5 is installed at the bottom of the mainframe connection frame 2 outside the torque amplifier 4. The bottom of the loosening agent injector 5 is conductively connected to a telescopic infusion tube 51, and a solenoid valve is provided in the infusion tube 51 to control the conduction or closing of the infusion tube 51. Specifically, the loosening agent injector 5 stores the loosening agent. When the seismograph is fixed and drilled, the loosening agent can be sprayed through the infusion tube 51 to corrode the rock and reduce the rock strength. When the seismograph is recovered, the loosening agent can be sprayed through the infusion tube 51 to dissolve the consolidant and the surrounding rock, loosening the base 85 for easy recovery.

[0041] As an alternative technical solution, a consolidant injector 6 is installed outside the torque increasing device 4 at the bottom of the host connecting frame 2. The bottom of the consolidant injector 6 is conductively connected to a telescopic infusion tube 51, and a solenoid valve is arranged in the infusion tube 51 to control the conduction or closing of the infusion tube 51. Specifically, the consolidant injector 6 stores consolidant for pouring the consolidant into the dug hole to increase the stability of the base 85.

[0042] Specifically, by providing a loosening agent injector 5 and a consolidant injector 6, before the drilling system 9 digs down into the rock to a specified depth to form a borehole, the loosening agent can be poured to corrode the rock, reducing the difficulty of the drilling system 9 digging down into the rock, as well as reducing the reaction force generated by the drilling of the drilling system 9 and improving the drilling stability of the drilling system 9.

[0043] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and all these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. An unmanned aerial vehicle seismograph for hard rock areas, an unmanned aerial vehicle seismograph for hard rock areas, characterized in that, include: UAV body (1); A host connecting frame (2), the host connecting frame (2) being rotatably connected to the lower part of the drone body (1), and the host connecting frame (2) being locked and fixed to the drone body (1) via a first locker (3), and when the first locker (3) is opened, the drone body (1) can rotate on the host connecting frame (2); A torque amplifier (4), which is arranged below the drone body (1) and is used to amplify the torque provided by the drone body (1) when it rotates; A conversion system, the conversion system comprising a connection disk (71), a second locker (72) and a converter (74), the connection disk (71) being connected to the torque multiplier (4), the converter (74) being rotatably connected to the connection disk (71), a steering motor (73) being mounted on the connection disk (71), and the second locker (72) being further mounted on the connection disk (71); A seismograph assembly and disassembly system (8), the seismograph assembly and disassembly system (8) being connected to the converter (74) and used for assembling and disassembling the seismograph; A drilling system (9) is connected to a converter (74) and is used for drilling ground rocks.

2. The drone seismograph in a hard rock area according to claim 1, characterized in that: The torque increaser (4) comprises a drone body connecting gear (41), a power-assisting motor (42), a first transmission gear (43), a second transmission gear (44) and an output gear (45), wherein the drone body connecting gear (41) is connected to the drone body (1) and meshes with the second transmission gear (44), the second transmission gear (44) is meshed with the output gear (45), and the power-assisting motor (42) is transmission-connected to the output gear (45) via the first transmission gear (43).

3. The unmanned aerial vehicle seismograph in a hard rock area according to claim 2, wherein: An adjustable arm (11) is also fixed on the outer wall of the drone body (1); the adjustable arm (11) is a retractable structure; a drone rotor (12) is mounted on the upper portion of one end of the adjustable arm (11) away from the drone body (1).

4. The drone seismograph in a hard rock area according to claim 2, characterized in that: A retractable support leg (13) is installed on the main engine connection frame (2) outside the torque amplifier (4), and a support leg driller (14) is arranged at the bottom end of the retractable support leg (13).

5. The drone seismograph in a hard rock area according to claim 4, characterized in that: A loosening agent injector (5) is installed at the bottom of the main machine connection frame (2) and located outside the torque increaser (4). A retractable infusion tube (51) is conductively connected to the bottom of the loosening agent injector (5), and a solenoid valve is arranged in the infusion tube (51) for controlling the conduction or closing of the infusion tube (51).

6. The drone seismograph in a hard rock area according to claim 5, wherein: A consolidating agent injector (6) is installed at the bottom of the mainframe connecting frame (2) and outside the torque amplifier (4). A retractable infusion tube (51) is also connected to the bottom of the consolidating agent injector (6), and a solenoid valve is also arranged in the infusion tube (51) for controlling the opening or closing of the infusion tube (51).

7. The unmanned aerial vehicle seismograph in a hard rock area according to claim 6, characterized in that: The seismograph loading and unloading system (8) comprises a telescopic transmission shaft (81) and a base clamp (82); the telescopic transmission shaft (81) is connected to a converter (74); and the base clamp (82) is installed at the bottom end of the telescopic transmission shaft (81).

8. The unmanned aerial vehicle seismograph in a hard rock area according to claim 6, characterized in that: The seismograph loading and unloading system (8) further includes a base (85), a seismograph main unit (83), and a direction adjuster (84). The seismograph main unit (83) is installed on the base (85) through the direction adjuster (84). A seismograph fastener (87) is also installed between the seismograph main unit (83) and the base (85). A base drilling tail vertebra (86) is installed on the lower surface of the base (85).

9. The drone seismograph in a hard rock area according to claim 8, characterized in that: The outer wall of the base drilling tail vertebra (86) has spiral threads and is conical in shape.

10. The hard rock area unmanned aerial vehicle seismograph according to claim 8, characterized in that: The drilling system (9) includes a telescopic drill rod (92) and a drill bit (93). The telescopic drill rod (92) is connected to the converter (74), and the drill bit (93) is installed at the bottom end of the telescopic drill rod (92).

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