Unmanned aerial vehicle remote control deep well soil sampling device and method

Abstract

The invention discloses an unmanned aerial vehicle remote control deep well soil sampling device which comprises an unmanned aerial vehicle body, a support is fixedly connected to the bottom of the unmanned aerial vehicle body, an integrated sampling device is fixed to the support, and a plurality of telescopic arms are arranged in the circumferential direction of the integrated sampling device and used for fixing the unmanned aerial vehicle body and the integrated sampling device to the inner wall face of a deep well. The unmanned aerial vehicle body, the telescopic arm and the integrated sampling device are electrically connected with the control system. The invention further discloses an unmanned aerial vehicle remote control deep well soil sampling method, and the problems that existing deep well soil sampling is inaccurate in positioning and low in sampling efficiency are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicle remote control deep well soil sampling, and in particular relates to an unmanned aerial vehicle remote control deep well soil sampling device. The invention also relates to an unmanned aerial vehicle remote control deep well soil sampling method. Background Art

[0002] In the field of geological exploration, soil information, soil properties and underground structures are generally obtained through deep well soil sampling. Traditional soil sampling methods usually require operators to directly enter deep wells for sampling, which is not only time-consuming and labor-intensive, but also has high safety risks. In addition, due to the particularity of the deep well environment, such as narrow space, high pressure, and complex geological conditions, traditional sampling methods are difficult to achieve ideal sampling results.

[0003] Drone technology has been widely used in many fields due to its fast, accurate and flexible characteristics. Introducing drone technology into deep well soil sampling can improve efficiency and safety. However, in the actual application of drone technology in deep wells, it is easily disturbed by airflow, obstacles and other factors in deep wells, which may lead to equipment failure. Based on the special environment of deep well soil sampling, the present invention proposes a drone-controlled deep well soil sampling robot, which has the advantages of small size, light weight, high efficiency and strong adaptability to deep well environment. Summary of the invention

[0004] The purpose of the present invention is to provide a drone remote-controlled deep well soil sampling device, which solves the problems of inaccurate positioning and low sampling efficiency in existing deep well soil sampling.

[0005] Another object of the present invention is to provide a method for remotely controlling deep well soil sampling using an unmanned aerial vehicle.

[0006] The first technical solution adopted by the present invention is: a drone remote-controlled deep well soil sampling device, including a drone body, a fixed connection bracket at the bottom of the drone body, an integrated sampling device fixed on the bracket, a plurality of telescopic arms are arranged circumferentially around the integrated sampling device, the telescopic arms are used to fix the drone body and the integrated sampling device on the inner wall of the deep well, and the drone body, the telescopic arms and the integrated sampling device are all controlled by an electrical connection system.

[0007] The first technical solution of the present invention is also characterized in that: The integrated sampling device includes a support plate, a connecting bracket is fixed on the support plate, a bidirectional hydraulic cylinder is fixed in the center of the support plate, the outlets at both ends of the bidirectional hydraulic cylinder are respectively connected to the inner cavities on both sides of the bidirectional hydraulic cylinder through a hydraulically controlled one-way valve, the two ends of the piston rod of the bidirectional hydraulic cylinder are respectively connected to the motor seat through connecting rods, a rotating motor is arranged on the motor seat, and a sampler is connected to the output shaft of the rotating motor.

[0008] The sampler includes a tool, the tool body of which is a rectangular parallelepiped structure, one end of the tool is open, and the other end of the tool is fixedly connected to the output shaft of a rotating motor. The interior of the tool is hollow, and the interior hollow of the tool is a sampling cavity. Rectangular grooves are opened around the inner wall of the tool along the length direction; a plurality of inverted grooves are relatively equidistantly arranged on the inner wall of the tool, and the top-view cross-section of the inverted groove is "Λ"-shaped and close to the inner wall of the tool, and the axial direction of the inverted groove is perpendicular to the extension direction of the rectangular groove, and the inverted groove is located on the inner side of the rectangular groove.

[0009] An integrated sensor is fixedly arranged on the lower surface of the support plate.

[0010] The telescopic arm adopts an electric push rod, and a suction cup is arranged at the end of the telescopic arm.

[0011] The drone body is a quad-rotor aircraft with multiple rotors.

[0012] The drone body is DJI Mavic 2 Enterprise or DJI Matrice 200 series.

[0013] The sampling cavity inside the tool has a size of a cube of 10 mm × 10 mm × 10 mm.

[0014] The second technical solution adopted by the present invention is: a deep well soil sampling method remotely controlled by an unmanned aerial vehicle, which uses a deep well soil sampling device remotely controlled by an unmanned aerial vehicle, and is implemented specifically according to the following steps: the control system includes a controller, which is electrically connected to the unmanned aerial vehicle body, a two-way hydraulic cylinder, an electric push rod, a rotating motor and an integrated sensor, and the integrated sensor collects downhole data. The integrated sensor feeds back the data detected at the location to the controller, and the controller forms a feedback closed-loop control through the unmanned aerial vehicle body, the two-way hydraulic cylinder, the electric push rod, the rotating motor and the integrated sensor.

[0015] The second technical solution of the present invention is also characterized in that: The drone body carries an integrated sampling device and flies to the top of the deep well along a preset path. The integrated sensor monitors the soil information and environmental parameters in the deep well in real time, and transmits the data to the controller. The controller adjusts and optimizes according to the real-time feedback to ensure the safe execution of the sampling task. After hovering at the specified position, the controller controls the electric push rod to extend and the suction cup to be fixed on the inner wall of the deep well. The bidirectional hydraulic cylinder is started to make the sampler close to the wall of the deep well, the rotary motor is turned on, the tool rotates, and the sampler penetrates into the soil for sampling. After the sampling is completed, the drone body returns to the ground along the planned path and takes out the soil sample for analysis.

[0016] The beneficial effects of the present invention are as follows: the drone remote-controlled deep well soil sampling device of the present invention and the integrated sampling device can quickly and accurately enter the deep well for sampling through the drone, which greatly improves the sampling speed and efficiency; there is no need for personnel to directly enter the deep well for sampling, which reduces the safety risks faced by personnel; the drone can achieve precise sampling positioning and control, avoids human errors, and improves the precision and accuracy of sampling; the collected soil sample data is transmitted and processed in real time, and the processing and analysis are fast and efficient, providing more accurate data support for geological exploration and environmental monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the drone remote-controlled deep well soil sampling device of the present invention; Figure 2 It is a schematic diagram of the structure of the integrated sampling device of the present invention; Figure 3 It is a structural schematic diagram of a sampler in the integrated sampling device of the present invention.

[0018] In the figure, 1. UAV body, 2. Sampler, 3. Control system, 4. Telescopic arm, 5. Integrated sampling device, 21. Suction cup, 22. Cutting tool, 23. Bidirectional hydraulic cylinder, 24. Integrated sensor, 25. Inverted slot, 26. Rectangular slot, 27. Rotating motor. DETAILED DESCRIPTION

[0019] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] Example 1 The structure of the deep well soil sampling device remotely controlled by an unmanned aerial vehicle of the present invention is as follows: Figure 1 As shown, it includes a drone body 1, a bracket fixedly connected to the bottom of the drone body 1, an integrated sampling device 5 fixed on the bracket, a plurality of telescopic arms 4 are arranged around the integrated sampling device 5, the telescopic arms 4 are used to fix the drone body 1 and the integrated sampling device 5 on the inner wall of the deep well, and the drone body 1, the telescopic arms 4, and the integrated sampling device 5 are all electrically connected to the control system 3.

[0021] Example 2 The structure of the drone remote-controlled deep well soil sampling device of the present invention comprises a drone body 1, a bracket fixedly connected at the bottom of the drone body 1, an integrated sampling device 5 fixed on the bracket, a plurality of telescopic arms 4 are arranged circumferentially on the integrated sampling device 5, the telescopic arms 4 are used to fix the drone body 1 and the integrated sampling device 5 on the inner wall of the deep well, and the drone body 1, the telescopic arms 4, and the integrated sampling device 5 are all electrically connected to the control system 3. On the basis of Example 1, the integrated sampling device 5 in this embodiment comprises a support plate, a bracket fixedly connected on the support plate, a bidirectional hydraulic cylinder 23 is fixed at the center of the support plate, the outlets at both ends of the bidirectional hydraulic cylinder 23 are respectively connected to the inner cavities on both sides of the bidirectional hydraulic cylinder through a hydraulically controlled one-way valve, the two ends of the piston rod of the bidirectional hydraulic cylinder are respectively connected to the motor seat through connecting rods, a rotary motor 27 is arranged on the motor seat, and the output shaft of the rotary motor 27 is connected to the sampler 2.

[0022] Example 3 The structure of the drone remote-controlled deep-well soil sampling device of the present invention comprises a drone body 1, a bracket fixedly connected to the bottom of the drone body 1, an integrated sampling device 5 fixed on the bracket, a plurality of telescopic arms 4 are arranged circumferentially around the integrated sampling device 5, the telescopic arms 4 are used to fix the drone body 1 and the integrated sampling device 5 on the inner wall of the deep well, and the drone body 1, the telescopic arms 4 and the integrated sampling device 5 are all electrically connected to the control system 3. The integrated sampling device 5 comprises a support plate, a bracket fixedly connected to the support plate, a bidirectional hydraulic cylinder 23 is fixed at the center of the support plate, the outlets at both ends of the bidirectional hydraulic cylinder 23 are respectively connected to the inner cavities on both sides of the bidirectional hydraulic cylinder through a hydraulically controlled one-way valve, the two ends of the piston rod of the bidirectional hydraulic cylinder are respectively connected to the motor seat through connecting rods, a rotating motor 27 is arranged on the motor seat, and the sampler 2 is connected to the output shaft of the rotating motor 27. On the basis of Example 2, the sampler 2 in this embodiment comprises a tool 22, such as Figure 2 and Figure 3 As shown, the body of the tool 22 is a rectangular parallelepiped structure, one end of the tool 22 is open, and the other end of the tool 22 is fixedly connected to the output shaft of the rotating motor 27. The interior of the tool 22 is hollow, and the interior of the tool 22 is a sampling cavity. Rectangular grooves 26 are provided around the inner wall of the tool 22 along the length direction. The rectangular grooves 26 are used to sieve out soil samples when the tool 22 rotates, so as to reduce the pressure when taking soil samples; a plurality of inverted grooves 25 are relatively equidistantly arranged on the inner wall of the tool 22, and the top view cross-section of the inverted grooves 25 is "Λ"-shaped and close to the inner wall of the tool 22, and the axial direction of the inverted grooves 25 is perpendicular to the extension direction of the rectangular grooves 26, and the inverted grooves 25 are located on the inner side of the rectangular grooves 26, so that the soil sample and loess can be effectively separated when the soil sample is dug out.

[0023] An integrated sensor 24 is fixedly arranged on the lower surface of the support plate, and the integrated sensor 24 is used to obtain soil information inside the deep well, including position, depth, and vibration parameter data.

[0024] The telescopic arm 4 adopts an electric push rod, and a suction cup 21 is arranged at the end of the telescopic arm 4. The suction cup 21 is used to prevent slipping and stabilize the integrated sampling device 5. The suction cup 21 is made of silicone or rubber material to adapt to different well wall surfaces.

[0025] Example 4 The structure of the drone remote-controlled deep-well soil sampling device of the present invention comprises a drone body 1, a bracket fixedly connected to the bottom of the drone body 1, an integrated sampling device 5 fixed on the bracket, a plurality of telescopic arms 4 are arranged circumferentially around the integrated sampling device 5, the telescopic arms 4 are used to fix the drone body 1 and the integrated sampling device 5 on the inner wall of the deep well, and the drone body 1, the telescopic arms 4 and the integrated sampling device 5 are all electrically connected to the control system 3. The integrated sampling device 5 comprises a support plate, a bracket fixedly connected to the support plate, a bidirectional hydraulic cylinder 23 is fixed at the center of the support plate, the outlets at both ends of the bidirectional hydraulic cylinder 23 are respectively connected to the inner cavities on both sides of the bidirectional hydraulic cylinder through a hydraulically controlled one-way valve, the two ends of the piston rod of the bidirectional hydraulic cylinder are respectively connected to the motor seat through connecting rods, a rotating motor 27 is arranged on the motor seat, and the sampler 2 is connected to the output shaft of the rotating motor 27. On the basis of Example 2, the sampler 2 in this embodiment comprises a tool 22, such as Figure 2 and Figure 3 As shown, the body of the tool 22 is a rectangular parallelepiped structure, one end of the tool 22 is open, and the other end of the tool 22 is fixedly connected to the output shaft of the rotating motor 27. The interior of the tool 22 is hollow, and the interior of the tool 22 is a sampling cavity. Rectangular grooves 26 are provided around the inner wall of the tool 22 along the length direction. The rectangular grooves 26 are used to sieve out soil samples when the tool 22 rotates, so as to reduce the pressure when taking soil samples; a plurality of inverted grooves 25 are relatively equidistantly arranged on the inner wall of the tool 22, and the top view cross-section of the inverted grooves 25 is "Λ"-shaped and close to the inner wall of the tool 22, and the axial direction of the inverted grooves 25 is perpendicular to the extension direction of the rectangular grooves 26, and the inverted grooves 25 are located on the inner side of the rectangular grooves 26, and an integrated sensor 24 is fixedly arranged on the lower surface of the support plate, and the telescopic arm 4 adopts an electric push rod, and a suction cup 21 is arranged at the end of the telescopic arm 4. On the basis of Example 3, the control system 3 in this embodiment includes a controller, which is electrically connected to the drone body 1, the two-way hydraulic cylinder 23, the electric push rod, the rotating motor 27 and the integrated sensor 24 respectively. The integrated sensor 24 collects downhole data, and the integrated sensor 24 feeds back the data detected at the location to the controller. The controller forms a feedback closed-loop control through the drone body 1, the two-way hydraulic cylinder 23, the electric push rod, the rotating motor 27 and the integrated sensor 24, and the controller realizes precise control of the stable flight and autonomous obstacle avoidance of the drone body 1 in a limited space; after the piston rod of the two-way hydraulic cylinder 23 is extended, the controller controls the extension and retraction amount of the piston rod of the two-way hydraulic cylinder 23; the controller controls the length extension and retraction of the electric push rod; the controller controls the rotating motor 27 to drive the tool 22 to rotate, the forward and reverse rotation and the speed of the rotating motor 27.

[0026] Example 5 The method for remotely controlling deep well soil sampling by unmanned aerial vehicle of the present invention utilizes a remotely controlled deep well soil sampling device to perform soil sampling, and is specifically implemented according to the following steps: an unmanned aerial vehicle body 1 carries an integrated sampling device 5 and flies to the top of the deep well according to a preset path, and an integrated sensor 24 monitors the soil information and environmental parameters in the deep well in real time, and transmits the data to a controller, and the controller adjusts and optimizes according to real-time feedback to ensure the safe execution of the sampling task; after hovering at a designated position, the controller controls the electric push rod to extend, and the suction cup 21 is fixed to the inner wall of the deep well; the bidirectional hydraulic cylinder 23 is started, so that the sampler 2 is close to the wall of the deep well, the rotating motor 27 is turned on, the cutter 22 rotates, and the sampler 2 penetrates into the soil for sampling, and after the sampling is completed, the unmanned aerial vehicle body 1 returns to the ground according to the planned path, and the soil sample is taken out for analysis.

[0027] Example 6 The method for remotely controlling deep well soil sampling by unmanned aerial vehicle of the present invention uses a remotely controlled deep well soil sampling device by unmanned aerial vehicle to perform soil sampling, which is specifically implemented according to the following steps: The drone body 1 is a quad-rotor aircraft with multiple rotors. The controller is responsible for receiving and processing data from the drone body 1, the bidirectional hydraulic cylinder 23, the electric push rod, the rotary motor 27 and the integrated sensor 24, realizing comprehensive control and coordination of the drone body 1 and the integrated sampling device 5, monitoring the flight status of the drone body 1 and the sampling process of the integrated sampling device 5 in real time, and adjusting and optimizing according to real-time feedback; the soil data collected by the integrated sensor 24 is transmitted to the controller in real time, and processed and analyzed. After the drone body 1 completes the sampling task, the electric push rod is controlled to be retracted and safely returned to the ground, and the ground operator takes out the soil sample in the sampler 2 for analysis.

[0028] During the sampling process, the soil information, environmental parameters and flight status of the UAV body 1 in the deep well are monitored in real time, and the data is transmitted to the controller to grasp the sampling progress and UAV status in real time to ensure the safe execution of the sampling task. The controller makes task reports and execution reports, summarizes and evaluates the sampling tasks, and provides reference for subsequent tasks.

[0029] The drone body 1 serves as a carrier of the integrated sampling device 5, providing mobility and positioning capabilities. The drone body 1 flies stably in the limited space of the deep well and performs precise positioning and navigation. The controller plans and schedules the drone's tasks, including flight path planning and sampling point location setting. The drone flies to the top of the deep well along the preset path, achieves precise positioning through multi-sensor fusion technology, realizes real-time data transmission from the drone to the ground, and processes and analyzes the received data. The controller pre-processes, filters and calibrates the sensor data, as well as subsequent data mining and statistical analysis. The drone body 1 uses the DJI Mavic 2 Enterprise or DJI Matrice 200 series, which has stable flight performance and strong load capacity.

[0030] The integrated sampling device 5 is responsible for controlling the movement of the sampler 2 through the bidirectional hydraulic cylinder 23 and the rotary motor 27, and actually performs soil sampling and collection. The sampler 2 is used to store the collected soil samples. The bidirectional hydraulic cylinder 23 and the rotary motor 27 are operated according to the instructions of the controller, and the sampling cavity inside the cutter 22 in the sampler 2 has a size of a 10mm×10mm×10mm cube.

[0031] The controller is set in the ground control station, and the operator at the ground control station uses the controller to plan the mission, and plans the flight path and sampling point location of the drone according to the specific conditions of the deep well and the sampling requirements. The ground control station includes multiple screens that display different data states and real-time display of the internal conditions of the deep well captured by the drone camera. The ground control station is provided with operating levers and buttons for controlling the drone body 1 and the sampling integrated device 5, and a row of control buttons is set below the drone camera video window to control the zoom, rotation and focus of the camera; the drone mission planning is displayed as a foldable sidebar, including a task list, a flight path planning tool and a sampling point setting option, allowing the operator to draw a flight path and set sampling points on the map according to the drone's map view; the communication status between the drone and the ground control station is displayed as a separate window, including signal strength, delay and data transmission rate, and provides communication setting options such as frequency selection, encryption and signal enhancement.

[0032] The controller performs data processing and analysis, which is displayed as an area containing multiple charts and data tables, showing real-time data streams, including environmental parameters such as depth, temperature, humidity, etc. The controller performs logging and reporting through data analysis tools such as data filtering, statistical analysis and graph generation, which is displayed as an expandable panel. The operation log records all operator command inputs and system responses; a report generation tool is provided to allow operators to create and export mission reports.

Claims

1. UAV remote control deep well soil sampling device, characterized in that: The invention comprises an unmanned aerial vehicle body (1), a support bracket fixed at the bottom of the unmanned aerial vehicle body (1), an integrated sampling device (5) fixed on the support bracket, a plurality of telescopic arms (4) arranged around the integrated sampling device (5), the telescopic arms (4) being used to fix the unmanned aerial vehicle body (1) and the integrated sampling device (5) on the inner wall surface of a deep well, and the unmanned aerial vehicle body (1), the telescopic arms (4) and the integrated sampling device (5) are all electrically connected to a control system (3).

2. The drone remote-controlled deep well soil sampling device according to claim 1, characterized in that: The integrated sampling device (5) comprises a support plate, a connecting bracket is fixed on the support plate, a bidirectional hydraulic cylinder (23) is fixed at the center of the support plate, the outlets at both ends of the bidirectional hydraulic cylinder (23) are connected to the inner cavities on both sides of the bidirectional hydraulic cylinder via a hydraulically controlled one-way valve, the two ends of the piston rod of the bidirectional hydraulic cylinder are connected to the motor seat via connecting rods, a rotating motor (27) is arranged on the motor seat, and the output shaft of the rotating motor (27) is connected to the sampler (2).

3. The drone remote-controlled deep well soil sampling device according to claim 2, characterized in that: The sampler (2) comprises a cutter (22), the cutter body of the cutter (22) being in a rectangular parallelepiped structure, one end of the cutter (22) being open, the other end of the cutter (22) being fixedly connected to the output shaft of a rotating motor (27), the interior of the cutter (22) being hollow, the interior of the cutter (22) being a sampling cavity, the inner wall of the cutter (22) being provided with rectangular grooves (26) along the length direction, a plurality of inverted grooves (25) being relatively equidistantly arranged on the inner wall of the cutter (22), the inverted groove (25) being in a "Λ" shape in a top view closely attached to the inner wall of the cutter (22), the axial direction of the inverted groove (25) being perpendicular to the extending direction of the rectangular groove (26), and the inverted groove (25) being located inside the rectangular groove (26).

4. The drone remote-controlled deep well soil sampling device according to claim 3, characterized in that: An integrated sensor (24) is fixedly arranged on the lower surface of the support plate.

5. The drone remote-controlled deep well soil sampling device according to claim 4, characterized in that: The telescopic arm (4) adopts an electric push rod, and a suction cup (21) is provided at the end of the telescopic arm (4).

6. The drone remote-controlled deep well soil sampling device according to claim 5, characterized in that: The drone body (1) is a quad-rotor aircraft with multiple rotors.

7. The drone remote-controlled deep well soil sampling device according to claim 6, characterized in that: The drone body (1) is a DJI Mavic 2 Enterprise or DJI Matrice 200 series.

8. The drone remote-controlled deep well soil sampling device according to claim 7, characterized in that: The sampling cavity inside the cutter (22) has a size of a cube of 10 mm×10 mm×10 mm.

9. A method for remotely controlling deep well soil sampling by an unmanned aerial vehicle, using the unmanned aerial vehicle remotely controlling deep well soil sampling device according to claim 9, characterized in that: The control system (3) comprises a controller, which is electrically connected to the drone body (1), the bidirectional hydraulic cylinder (23), the electric push rod, the rotary motor (27) and the integrated sensor (24), respectively. The integrated sensor (24) collects downhole data, and the integrated sensor (24) feeds back the data of the detected position to the controller. The controller forms a feedback closed-loop control through the drone body (1), the bidirectional hydraulic cylinder (23), the electric push rod, the rotary motor (27) and the integrated sensor (24).

10. The method for deep well soil sampling by remote control of an unmanned aerial vehicle as claimed in claim 9, characterized in that: Specifically, the process is implemented in the following steps: the drone body (1) carries the integrated sampling device (5) and flies to the top of the deep well according to a preset path. The integrated sensor (24) monitors the soil information and environmental parameters in the deep well in real time and transmits the data to the controller. The controller makes adjustments and optimizations based on the real-time feedback to ensure the safe execution of the sampling task. After hovering at the designated position, the controller controls the electric push rod to extend and the suction cup (21) is fixed to the inner wall of the deep well. The bidirectional hydraulic cylinder (23) is started to make the sampler (2) close to the wall of the deep well. The rotating motor (27) is turned on to rotate the cutter (22) and the sampler (2) penetrates into the soil for sampling. After the sampling is completed, the drone body (1) returns to the ground according to the planned path and takes out the soil sample for analysis.

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