Terrain survey unmanned aerial vehicle for debris flow prediction

Abstract

The invention discloses a topographic survey unmanned aerial vehicle for debris flow prediction, and relates to the technical field of debris flow prevention and control engineering. The lifting regulation and control device is fixed in the middle of the machine body; the two protection panels are symmetrically distributed, arranged in the machine body and fixed to the two sides of the lifting regulation and control device; the two moving devices are symmetrically distributed, are arranged corresponding to the protection panel and are arranged between the protection panel and the machine body in a sliding manner; the two rotating assemblies are symmetrically distributed and fixedly connected with the two sides of the lifting regulation and control device, and the rotating assemblies are located on the outer side of the protection panel; the two rotor wings are symmetrically distributed and are rotationally connected with the end, away from the lifting regulation and control device, of the rotating assembly; and the protection positioning device is arranged corresponding to the rotor wing and is fixed on the outer side of the rotor wing. The terrain can be measured in the flying state, soil layers of different terrains can be detected on the ground, and protection measures are taken in time according to the positions of the terrains and solid matter sources.

Description

Technical Field

[0001] The invention relates to the technical field of debris flow prevention and control engineering, and more specifically to a terrain surveying unmanned aerial vehicle for debris flow prediction. Background Art

[0002] Debris flow is a solid-liquid two-phase fluid containing mud, sand and rocks that occurs in mountainous areas under the conditions of terrain, material source and rainfall. It is mostly in a dilute turbulent or viscous laminar state. In order to minimize the degree of damage caused by debris flow disasters, it is very necessary to predict the hazard zoning of debris flow accumulation areas. Topography, precipitation and solid material sources are the main conditions that affect the development of debris flow. At present, the material source and channel conditions of the debris flow formation area can be obtained by using drone photogrammetry, and parameters can be obtained quickly and accurately, so as to make quantitative and accurate judgments on the critical conditions of debris flow. However, when drones are used to measure terrain, it is difficult for drones to make accurate judgments for complex terrains, and it is impossible to conduct on-site analysis and detection of the material source in the debris flow formation area. It is necessary to go to the soil layer where the solid material source is located again for manual analysis. When the drone is landing for detection, the take-off and landing system is difficult to meet the take-off and landing requirements in different terrains and environments, and it is difficult for the drone to complete the set goals. Therefore, it is necessary to provide a terrain measurement drone for debris flow prediction to solve the problems raised in the above background technology. Summary of the invention

[0003] To achieve the above object, the present invention provides the following technical solution: a terrain surveying drone for debris flow prediction, comprising:

[0004] Body;

[0005] A lifting and lowering control device is fixed in the middle of the machine body;

[0006] Two protective panels are symmetrically arranged in the machine body and fixed on both sides of the lifting and regulating device;

[0007] The moving devices are symmetrically arranged with two of them, arranged corresponding to the protective panel, and slidably arranged between the protective panel and the body;

[0008] Two rotating components are symmetrically arranged and fixedly connected to both sides of the lifting and regulating device, and the rotating components are located outside the protective panel;

[0009] Two rotors are symmetrically arranged and rotatably connected to one end of the rotating assembly away from the lifting and controlling device;

[0010] The protective positioning device is arranged corresponding to the rotor and is fixed on the outer side of the rotor.

[0011] Further, as a preference, the body comprises:

[0012] A central control ring, with a counterweight at the bottom to maintain the stability of the machine body, and the central control ring is fixedly connected to the bottom of the lifting and regulating device;

[0013] Two rotating ring bodies are symmetrically arranged about the central control ring, and are rotatably connected to the central control ring. The inner ring of the rotating ring body is provided with a pushing mechanism, and the rotating ring body is fixedly connected to the moving device through the pushing mechanism.

[0014] A main body, rotatably arranged outside the central control ring and the rotating ring body, wherein the main body is controlled to rotate by the central control ring;

[0015] The spiral camera is fixed on the main body;

[0016] The sampling components are provided with two groups symmetrically distributed about the spiral camera and fixed on the main body.

[0017] Further, as a preference, the lifting and regulating device comprises:

[0018] Fixed column, the bottom is fixed on the central control ring;

[0019] A lifting connection piece is slidably arranged on a fixed column;

[0020] The telescopic shafts are symmetrically distributed with respect to the central control ring and are connected to the lifting connector and the rotating assembly.

[0021] Further, as a preference, the protective panel is fixedly connected to the top of the fixed column via a connecting surface, and a vertical slide is provided at a corresponding position between the protective panel and the telescopic shaft.

[0022] Further, preferably, the mobile device comprises:

[0023] The moving ring is fixedly connected to the pushing mechanism on the inner ring of the rotating ring body;

[0024] A plurality of supporting arc plates are provided in an annular distribution and are connected to an end of the moving ring away from the central control ring through a torsion spring.

[0025] Further, as a preference, the rotating assembly comprises:

[0026] A connecting rod, one end of which is fixedly connected to the telescopic shaft, and the other end of which is rotatably connected to the bottom of the motor box at the center of the rotor;

[0027] The rotating connecting rod is rotatably connected to the connection between the connecting rod and the motor box at the center of the rotor and is located in the middle of the connecting rod. One end of the rotating connecting rod away from the connecting rod is fixedly connected to the protective positioning device.

[0028] Further, as a preference, the protection positioning device comprises:

[0029] A plurality of fixed connecting rods are provided in an annular distribution and fixed to the outside of the motor box at the center of the rotor, and one of the fixed connecting rods is fixedly connected to the rotating connecting rod;

[0030] A protective annular surface is arranged on the outer side of the rotor and is fixedly connected to an end of the fixed connecting rod away from the rotor;

[0031] The positioning assembly is fixed on the outside of the protective ring surface.

[0032] Further, as a preference, the positioning component comprises:

[0033] A fixing ring, fixed to the upper outer side of the protection ring surface;

[0034] A plurality of positioning rods are provided in an annular distribution and fixed at the bottom of the fixing ring, and the diameter of the circular track formed by the positioning rods is smaller than the diameter of the circular track formed by the supporting arc plate.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] In the present invention, the height and position of the rotor are adjusted by setting the lifting and controlling device, and the deflection angle of the rotor is adjusted with the assistance of the rotating assembly. Under normal flight, the rotor is unfolded, and when landing for mobile detection, the rotor can be retracted into the fuselage to protect the rotor, so as to ensure that the rotor can be used normally during take-off; by setting the moving device, when the UAV lands to explore the terrain, power is provided to the fuselage; by setting the protective positioning device, when detecting solid sources, the entire fuselage can be fixed by controlling the positioning assembly on the outside of the rotor, ensuring that the stability of the fuselage is maintained when the looseness of the solid source is detected and sampled; by setting the spiral camera, both the terrain can be monitored in an all-round macroscopic manner and the solid source can be monitored when being detected and sampled; the soil layers of different terrains are detected by the sampling assembly, the location of the solid source is determined, and protective measures are taken in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The overall structure diagram of a terrain survey UAV used for debris flow prediction is shown in FIG.

[0038] Figure 2 It is a schematic diagram of the internal structure of the machine;

[0039] Figure 3 It is a schematic diagram of the structure of the lifting and regulating device and the moving device;

[0040] Figure 4 It is a schematic diagram of the structure of the rotating assembly and the protective positioning device;

[0041] Figure 5 It is a schematic diagram of the structure of the positioning component;

[0042] Figure 6 This is a schematic diagram of the structure of the UAV in flight;

[0043] Figure 7 This is a schematic diagram of the structure of the UAV in the landing state;

[0044] Figure 8 This is a schematic diagram of the structure of the drone when it is conducting soil layer detection and sampling;

[0045] Fig. 9 This is a schematic diagram of the structure of the UAV when it is moving on the ground;

[0046] In the figure: 1. body; 2. lifting and controlling device; 3. protective panel; 4. moving device; 5. rotating assembly; 6. rotor; 7. protective positioning device; 11. central control ring; 12. rotating ring body; 13. main body; 14. spiral camera; 15. sampling assembly; 21. fixed column; 22. lifting connection; 23. telescopic shaft; 31. slide; 32. connecting surface; 41. moving ring; 42. supporting arc plate; 51. connecting rod; 52. rotating connecting rod; 71. fixed connecting rod; 72. protective ring surface; 73. positioning assembly; 731. fixed ring; 732. positioning rod. DETAILED DESCRIPTION

[0047] See also Figures 1 to 9 In an embodiment of the present invention, a terrain surveying drone for debris flow prediction includes:

[0048] Body 1;

[0049] A lifting and regulating device 2 is fixed in the middle of the machine body 1;

[0050] Two protective panels 3 are symmetrically arranged inside the machine body 1 and fixed on both sides of the lifting and regulating device 2;

[0051] The moving devices 4 are symmetrically arranged with two of them, which are arranged corresponding to the protection panel 3 and are slidably arranged between the protection panel 3 and the body 1;

[0052] Two rotating components 5 are symmetrically arranged and fixedly connected to both sides of the lifting and regulating device 2, and the rotating components 5 are located on the outside of the protective panel 3;

[0053] The rotors 6 are symmetrically provided with two rotors, and are rotatably connected to the end of the rotating assembly 5 away from the lifting and regulating device 2;

[0054] The protective positioning device 7 is arranged corresponding to the rotor 6 and fixed on the outer side of the rotor 6 .

[0055] In this embodiment, the body 1 includes:

[0056] A central control ring 11, with a counterweight at the bottom to maintain the stability of the machine body 1, and the central control ring 11 is fixedly connected to the bottom of the lifting and regulating device 2;

[0057] Two rotating ring bodies 12 are symmetrically distributed with respect to the central control ring 11, and are rotatably connected to the central control ring 11. The inner ring of the rotating ring body 12 is provided with a pushing mechanism, and the rotating ring body 12 is fixedly connected to the moving device 4 through the pushing mechanism;

[0058] A main body 13 is rotatably arranged outside the central control ring 11 and the rotating ring body 12, and the main body 13 is controlled to rotate by the central control ring 11;

[0059] A spiral camera 14 is fixed on the main body 13;

[0060] The sampling components 15 are provided with two groups symmetrically distributed about the spiral camera 14 and fixed on the main body 13 .

[0061] That is to say, when the center control ring 11 and the rotating ring body 12 are in a fixed state, under the action of the center control ring 11, the main body 13 is driven to rotate outside the center control ring 11 and the rotating ring body 12, and then the main body 13 drives the spiral camera 14 and the sampling assembly 15 to rotate, and the angles of the spiral camera 14 and the sampling assembly 15 are adjusted, and the spiral camera 14 can rotate in all directions to perform all-round scanning and measurement of the terrain; when the center control ring 11 and the rotating ring body 12 are in a rotating state, the center control ring 11 fixes the main body 13, controls the rotation of the rotating ring body 12, and then under the action of the pushing mechanism on the rotating ring body 12, drives the moving device 4 to rotate, and drives the body 1 to move on the ground through the moving device 4, and selects soil layers at different terrains for detection to determine the location of the solid source and perform effective protection.

[0062] In this embodiment, the lifting and regulating device 2 includes:

[0063] A fixed column 21, the bottom of which is fixed on the central control ring 11;

[0064] A lifting connection member 22 is slidably disposed on the fixed column 21;

[0065] Two telescopic shafts 23 are symmetrically distributed about the central control ring 11 and connect the lifting connection member 22 and the rotating assembly 5 .

[0066] That is to say, when the telescopic shaft 23 is extended, the rotor 6 and the protective positioning device 7 are pushed out from the inside of the mobile device 4, and then the rotor 6 is unfolded under the action of the rotating component 5, and the body 1 is driven to fly by the rotor 6. When the UAV lands and detects the soil layer, the angle of the rotor 6 and the protective positioning device 7 can be rotated and adjusted by the rotating component 5, and the lifting connection 22 moves up and down on the fixed column 21, driving the protective positioning device 7 to move down, and fixing the body 1 on the ground, so that the sampling component 15 can detect and sample the soil layer; when the telescopic shaft 23 is retracted, the rotor 6 and the protective positioning device 7 are retracted into the inside of the mobile device 4 to protect the rotor 6 to prevent the rotor 6 from being damaged when the UAV moves and measures on the ground, affecting the UAV's take-off again, and making it difficult to complete subsequent work.

[0067] In this embodiment, the protection panel 3 is fixedly connected to the top of the fixed column 21 via a connection surface 32 , and a vertical slideway 31 is provided at a position corresponding to the protection panel 3 and the telescopic shaft 23 .

[0068] That is to say, under the action of the protective panel 3, the interior of the body 1 is protected to prevent external debris from entering the interior of the body 1, and the protective panels 3 on both sides are fixed through the connecting surface 32, and the rotating ring body 12 drives the moving device 4 to rotate unrestricted between the protective panel 3 and the main body 13. At the same time, under the action of the slide 31, when the lifting connection 22 moves up and down on the fixed column 21, it drives the telescopic shaft 23 to move up and down in the slide 31.

[0069] In this embodiment, the mobile device 4 includes:

[0070] The moving ring 41 is fixedly connected to the pushing mechanism on the inner ring of the rotating ring body 12;

[0071] A plurality of supporting arc plates 42 are provided in an annular arrangement and are connected to an end of the moving ring 41 away from the central control ring 11 through a torsion spring.

[0072] That is to say, under the action of the pushing mechanism on the rotating ring body 12, the supporting arc plate 42 is pushed to move toward the outside of the rotating ring body 12 through the moving ring 41. When the connection between the supporting arc plate 42 and the moving ring 41 moves to the outside of the rotating ring body 12, under the action of the torsion spring, the supporting arc plate 42 flips outward, and the lower supporting arc plate 42 contacts the ground to support the body 1. Then, driven by the central control ring 11, the rotating ring body 12 drives the moving ring 41 to rotate, and then the supporting arc plate 42 rotates on the ground, driving the UAV to move on the ground to measure the terrain and detect and analyze the soil layer.

[0073] In this embodiment, the rotating assembly 5 includes:

[0074] A connecting rod 51, one end of which is fixedly connected to the telescopic shaft 23, and the other end of which is rotatably connected to the bottom of the motor box at the center of the rotor 6;

[0075] The rotating connecting rod 52 is rotatably connected to the connection between the connecting rod 51 and the motor box at the center of the rotor 6 and is located in the middle of the connecting rod 51 . One end of the rotating connecting rod 52 away from the connecting rod 51 is fixedly connected to the protective positioning device 7 .

[0076] That is to say, when the rotating connecting rod 52 rotates in the middle of the connecting rod 51, the rotating connecting rod 52 drives the rotor 6 and the protective positioning device 7 to rotate on the connecting rod 51 at the same time, and the angles of the rotor 6 and the protective positioning device 7 are adjusted. When the rotor 6 needs to be unfolded, the rotating connecting rod 52 is rotated toward the position of the connecting rod 51 to rotate the rotor 6 to a horizontal state, driving the UAV to fly; when the rotor 6 needs to be retracted, the rotating connecting rod 52 is rotated away from the position of the connecting rod 51 to rotate the rotor 6 to a vertical state, and under the action of the lifting and controlling device 2, the rotor 6 is retracted into the fuselage 1 for protection; when the fuselage 1 needs to be fixed as a whole by the protective positioning device 7 to collect and detect the soil layer, when the rotor 6 and the protective positioning device 7 are in a horizontal state, the rotating connecting rod 52 is rotated away from the position of the connecting rod 51 to rotate the protective positioning device 7 to an inclined state to support and fix the fuselage 1.

[0077] In this embodiment, the protection positioning device 7 includes:

[0078] A plurality of fixed connecting rods 71 ​​are provided in an annular distribution and fixed to the outside of the motor box at the center of the rotor 6, and one of the fixed connecting rods 71 ​​is fixedly connected to the rotating connecting rod 52;

[0079] The protective annular surface 72 is arranged on the outer side of the rotor 6 and is fixedly connected to the end of the fixed link 71 away from the rotor 6;

[0080] The positioning assembly 73 is fixed on the outer side of the protective ring surface 72 .

[0081] That is to say, under the action of the fixed connecting rod 71 and the protective ring surface 72, the rotor 6 is protected. When the UAV is in the soil layer detection sampling state, the positioning component 73 and the ground are fixed to each other to provide fixed support for the body 1; when the UAV is in the ground moving state, the rotor 6 is retracted and protected through the mutual guidance between the positioning component 73 and the moving ring 41.

[0082] In this embodiment, the positioning component 73 includes:

[0083] A fixing ring 731 is fixed to the upper outer side of the protection ring surface 72;

[0084] A plurality of positioning rods 732 are provided in an annular distribution and fixed at the bottom of the fixing ring 731 , and the diameter of the circular track formed by the positioning rods 732 is smaller than the diameter of the circular track formed by the supporting arc plate 42 .

[0085] That is to say, when the UAV is in the soil layer detection and sampling state, the rotating connecting rod 52 is rotated away from the position of the connecting rod 51, and the positioning assembly 73 is rotated to an inclined state, so that the positioning rod 732 and the ground are fixed to each other, thereby supporting and fixing the body 1; when the UAV is in the ground moving state, the rotating connecting rod 52 is rotated away from the position of the connecting rod 51, and the positioning assembly 73 is rotated to a vertical state, and the mutual guidance between the positioning rod 732 in the positioning assembly 73 and the moving ring 41 is used to retract the rotor 6 to protect the rotor 6.

[0086] In the specific implementation, first, in the initial state of the UAV, the moving device 4, the rotor 6 and the protective positioning device 7 are all in the retracted state. When the UAV is flying, the telescopic shaft 23 is extended, and the rotor 6 and the protective positioning device 7 are pushed to move to the outside of the body 1 by the rotating assembly 5, and then the connecting rod 52 is rotated to the position of the connecting rod 51 to rotate the rotor 6 to a horizontal state, and the UAV is driven to fly by the rotor 6, and the main body 13 is driven to rotate by the central control ring 11, and the spiral camera 14 rotates to measure the terrain from a high altitude; when the UAV is landing, the rotating shaft 23 is extended to push the rotor 6 and the protective positioning device 7 to move to the outside of the body 1, and then the connecting rod 52 is rotated to the position of the connecting rod 51 to rotate the rotor 6 to rotate the main body 13 and the spiral camera 14 to rotate. Under the action of the pushing mechanism on the moving ring body 12, the supporting arc plate 42 is pushed to move to the outside of the rotating ring body 12 through the moving ring 41. When the connection between the supporting arc plate 42 and the moving ring 41 moves to the outside of the rotating ring body 12, under the action of the torsion spring, the supporting arc plate 42 flips outward, and under the control of the rotor 6, the body 1 moves downward until the lower supporting arc plate 42 contacts the ground to support the body 1; when the UAV performs soil layer detection and sampling, the rotor 6 and the protective positioning device 7 are in an extended state, and then the rotating connecting rod 52 rotates on the connecting rod 51 to rotate the positioning assembly 73 to The protective positioning device 7 is then driven by the lifting and regulating device 2 to move downward, so that the positioning rod 732 is fixed to the ground, and the body 1 is supported and fixed. Then, the main body 13 is controlled to rotate through the central control ring 11, and the sampling assembly 15 is driven to rotate to the position where it fits the ground. At the same time, the spiral camera 14 is turned to the position where the sampling assembly 15 fits the ground. When the sampling assembly 15 detects and samples the soil layer, the spiral camera 14 records in real time to identify the hardness of the soil layer and whether the soil layer here belongs to a fixed source, and make accurate records. When the UAV is on the ground When moving and changing the detection and measurement location, the connecting rod 52 is rotated on the connecting rod 51 to rotate the positioning assembly 73 to a vertical state, and the rotor 6 is retracted through the mutual guidance between the positioning rod 732 in the positioning assembly 73 and the moving ring 41 to protect the rotor 6. Then, the rotation of the rotating ring body 12 is controlled by the central control ring 11, and then the mobile device 4 is driven to rotate under the action of the pushing mechanism on the rotating ring body 12. The mobile device 4 drives the body 1 to move on the ground, and the terrain is measured on the spot. Different positions are selected for soil layer detection to determine the source of solid matter.

[0087] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A terrain surveying drone for debris flow prediction, characterized in that: include: Body (1); A lifting and lowering control device (2) is fixed to the middle part of the machine body (1); Two protective panels (3) are symmetrically arranged and disposed in the machine body (1) and fixed on both sides of the lifting and regulating device (2); Two moving devices (4) are symmetrically arranged, arranged corresponding to the protective panel (3), and slidably arranged between the protective panel (3) and the machine body (1); Two rotating components (5) are symmetrically arranged and fixedly connected to two sides of the lifting and regulating device (2), and the rotating components (5) are located outside the protective panel (3); Two rotors (6) are symmetrically arranged and are rotatably connected to an end of the rotating assembly (5) away from the lifting and lowering control device (2); The protective positioning device (7) is arranged corresponding to the rotor (6) and is fixed on the outer side of the rotor (6).

2. A terrain surveying drone for debris flow prediction according to claim 1, characterized in that: The body (1) comprises: A central control ring (11) is provided with a counterweight at the bottom to maintain the stability of the machine body (1), and the central control ring (11) is fixedly connected to the bottom of the lifting and regulating device (2); Two rotating ring bodies (12) are symmetrically distributed with respect to the central control ring (11), and are rotatably connected to the central control ring (11). The inner ring of the rotating ring body (12) is provided with a pushing mechanism, and the rotating ring body (12) is fixedly connected to the moving device (4) via the pushing mechanism; A main body (13) is rotatably arranged outside the central control ring (11) and the rotating ring body (12), and the main body (13) is controlled to rotate by the central control ring (11); A spiral camera (14) fixed on the main body (13); The sampling components (15) are provided with two groups symmetrically distributed about the spiral camera (14) and are fixed on the main body (13).

3. A terrain surveying drone for debris flow prediction according to claim 2, characterized in that: The lifting and regulating device (2) comprises: A fixed column (21), the bottom of which is fixed on the central control ring (11); A lifting connection member (22) is slidably disposed on the fixed column (21); Two telescopic shafts (23) are symmetrically distributed about the central control ring (11) and are connected to the lifting connection member (22) and the rotating assembly (5).

4. A terrain surveying drone for debris flow prediction according to claim 3, characterized in that: The protective panel (3) is fixedly connected to the top of the fixed column (21) via a connecting surface (32), and a vertical slideway (31) is provided at a position corresponding to the protective panel (3) and the telescopic shaft (23).

5. The topographic surveying drone for debris flow prediction according to claim 3, characterized in that: The mobile device (4) comprises: A moving ring (41) is fixedly connected to a pushing mechanism on the inner ring of the rotating ring body (12); A plurality of supporting arc plates (42) are provided in an annular distribution and are connected to an end of the moving ring (41) away from the central control ring (11) via a torsion spring.

6. A terrain surveying drone for debris flow prediction according to claim 5, characterized in that: The rotating assembly (5) comprises: A connecting rod (51), one end of which is fixedly connected to the telescopic shaft (23), and the other end of which is rotatably connected to the bottom of the motor box at the center of the rotor (6); The rotating connecting rod (52) is rotatably connected to the connection point between the connecting rod (51) and the motor box at the center of the rotor (6) and is located in the middle of the connecting rod (51). One end of the rotating connecting rod (52) away from the connecting rod (51) is fixedly connected to the protective positioning device (7).

7. A terrain surveying drone for debris flow prediction according to claim 6, characterized in that: The protective positioning device (7) comprises: A plurality of fixed connecting rods (71) are provided in an annular distribution and are fixed to the outside of the motor box at the center of the rotor (6), and one of the fixed connecting rods (71) is fixedly connected to the rotating connecting rod (52); A protective annular surface (72) is arranged on the outer side of the rotor (6) and is fixedly connected to an end of the fixed connecting rod (71) away from the rotor (6); The positioning assembly (73) is fixed on the outer side of the protective ring surface (72).

8. A terrain surveying drone for debris flow prediction according to claim 7, characterized in that: The positioning component (73) comprises: A fixing ring (731) fixed to the outer side of the upper portion of the protection ring surface (72); A plurality of positioning rods (732) are provided in an annular distribution and are fixed to the bottom of the fixing ring (731), and the diameter of the circular track formed by the positioning rods (732) is smaller than the diameter of the circular track formed by the supporting arc plate (42).

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