Tunnel portal rolling stone investigation device and method based on unmanned aerial vehicle suspension line holder

Abstract

The invention relates to a tunnel portal rolling stone reconnaissance device and method based on an unmanned aerial vehicle suspension cradle head. The device comprises an unmanned aerial vehicle platform, a pay-off device, a cradle head camera and a control system. Wherein the pay-off device is installed on the unmanned aerial vehicle platform, and the pan-tilt camera is connected with the pay-off device through a suspension line released by the pay-off device; the control system is used for controlling flight of the unmanned aerial vehicle platform, operation of the pay-off device and shooting of the pan-tilt camera. The unmanned aerial vehicle has the beneficial effects that the pay-off device and the pan-tilt camera are carried through the unmanned aerial vehicle platform, the problem that a common unmanned aerial vehicle pan-tilt camera is blocked by plants and cannot be effectively investigated is effectively solved, meanwhile, remote control and automatic operation are achieved, the investigation efficiency and safety are greatly improved, and the unmanned aerial vehicle is suitable for popularization and application. A new technical means is provided for safety monitoring of tunnel engineering, and the method has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel engineering safety monitoring, and more specifically, to a tunnel opening rolling stone survey device and method based on an unmanned aerial vehicle (UAV) suspended gimbal. Background Art

[0002] During tunnel construction and maintenance, stability assessment of the tunnel entrance area is crucial. However, since there are often lush vegetation above the tunnel entrance, traditional methods of checking for rolling stone hazards, such as manual foot inspections, are not only inefficient, but also require a lot of manpower and material resources, especially in complex terrain conditions, which is more time-consuming and labor-intensive. In recent years, drone technology has been widely used in various monitoring tasks due to its high efficiency and flexibility. However, when facing dense vegetation above the tunnel entrance, conventional drone gimbal cameras are often unable to obtain clear and effective survey images due to obstructed vision, limiting their application in this field. Summary of the invention

[0003] The purpose of the present invention is to address the deficiencies in the prior art and to propose a tunnel entrance rockfall survey device and method based on an unmanned aerial vehicle suspended gimbal.

[0004] In the first aspect, a tunnel entrance rolling stone survey device based on a drone suspended gimbal is provided, comprising: a drone platform, a wire laying device, a gimbal camera and a control system;

[0005] Among them, the line-releasing device is installed on the UAV platform, and the gimbal camera is connected to the line-releasing device through the suspension line released by the line-releasing device; the control system is used to control the flight of the UAV platform, the operation of the line-releasing device and the shooting of the gimbal camera.

[0006] Preferably, the wire-releasing device is composed of a winch, a central suspension wire, an oblique suspension wire, a side suspension wire, a suspension hoist, a connecting plate, a damper, a hook, a protective shell, a limiter, a base, and a protective shell control switch;

[0007] Among them, the winch is used to drive the central suspension line, the oblique suspension line and the side suspension line to work together to lower and recover the pan-tilt camera; the suspension hoist is used to control the lowering speed of the oblique suspension line and the side suspension line; the connecting plate is used to connect the central suspension line, the oblique suspension line and the side suspension line; the damper is used to reduce the impact of shaking of the pan-tilt camera during operation; the pan-tilt camera is installed in the base of the protective shell, the hook is used to hook the protective shell, and the limiter is used to control the installation position of the pan-tilt camera.

[0008] In a second aspect, a method for rockfall survey at a tunnel entrance based on a drone gimbal is provided, which is performed by any device described in the first aspect, and includes:

[0009] Step 1: Equipment selection and preparation: Select the appropriate UAV platform, gimbal camera and control system according to the survey requirements, and design a line-laying device that meets the operational requirements;

[0010] Step 2: Route planning: Plan the flight path of the drone and the location of the gimbal camera according to the terrain and vegetation distribution at the tunnel entrance;

[0011] Step 3, take-off and lift-off: Operate the drone to take off according to the predetermined path and rise to an appropriate height, ensuring that the line release device and the gimbal camera are away from ground obstacles;

[0012] Step 4: Lower the PTZ camera: Start the wire-releasing device through the control system, slowly release the hanging wire, and gradually lower the PTZ camera to the target survey point. At the same time, adjust the PTZ angle to ensure that the shooting range is fully covered.

[0013] Step 5: Shooting and recording: Start the pan / tilt camera shooting mode to collect high-definition images of the tunnel entrance terrain and potential rockfall hazards, and transmit them to the control system in real time for storage and analysis;

[0014] Step 6: Recover the gimbal camera: After shooting, use the control system to operate the wire-releasing device to recover the hanging wire and gimbal camera until they are safely returned to the drone platform.

[0015] Step 7: Data analysis and evaluation: Import the collected image data into professional software for analysis, identify potential rockfall hazards, and provide protection recommendations.

[0016] Preferably, in step 1, the selection of the UAV platform satisfies the following formula requirements:

[0017] M 无人机 ≥M 放线装置 +M 云台相机 +M 安全裕量

[0018] Among them, M 无人机 is the maximum load of the UAV platform, M 放线装置 is the mass of the pay-off device, M 云台相机 is the quality of the gimbal camera, M 安全裕量 It is the safety quality margin.

[0019] Preferably, in step 1, the stability coefficient K is calculated 稳定 And load safety factor K 载重 Determine whether the UAV platform meets the requirements, the stability coefficient K 稳定 The calculation formula is:

[0020]

[0021] Among them, M 无人机最大设计载重is the maximum design load of the UAV; when K 稳定 When it is greater than or equal to 1, it means that the drone has sufficient stability margin; the load safety factor K 载重 The calculation formula is:

[0022]

[0023] Among them, M 无人机实际载重 is the load mass carried by the UAV in actual operation, β is the upper limit of the load safety factor, when K 载重 When it is less than or equal to β, it means that the load of the UAV in actual operation is safe.

[0024] Preferably, in step 1, the total length of the pay-off device satisfies the following formula requirements:

[0025] L 悬线 ≥H 无人机 +H 安全裕量 +H 地形起伏

[0026] Among them, L 悬线 is the total length of the suspension wire, H 无人机 is the flight altitude of the UAV, H 安全裕量 is the safety height margin, H 地下起伏 It is the maximum undulation height of the terrain above the tunnel entrance.

[0027] As a preference, in step 4, the precision index P is released by the hanging wire. 控制 , to control the lowering accuracy of the suspension line, the calculation formula is:

[0028]

[0029] Among them, L 实际释放 L is the length of the suspension wire actually released by the pay-off device. 理论释放 is the theoretical release length, δ is the allowable error range, when P 控制 When it is less than or equal to δ, it means that the pay-off device meets the control accuracy requirements.

[0030] As a preferred method, in step 5, the image definition Q 图像 And shooting stability coefficient K 拍摄稳定 Evaluate the shooting quality and shooting stability of the gimbal camera 3; image clarity Q 图像 The calculation formula is:

[0031]

[0032] Among them, image resolution, noise level and contrast are all evaluation indicators of image quality;

[0033] Shooting stability coefficient K拍摄稳定 The calculation formula is:

[0034]

[0035] Among them, stable shooting time refers to the time the gimbal camera remains stable during the shooting process, total shooting time refers to the time of the entire shooting process, number of shakes refers to the number of shakes during the shooting process, and total shooting times refers to the total number of shots in the entire shooting process.

[0036] As a preference, in steps 2 to 7, the control command response rate R is introduced 响应率 And control instruction accuracy A 准确率 Two indicators are used to evaluate the working performance of the control system 4: the control command response rate R 响应率 The calculation formula is:

[0037]

[0038] The number of control instructions responded refers to the number of control instructions successfully responded by the control system, the total number of control instructions refers to the total number of control instructions issued, and T 平均响应时间 is the average response time of the control system to the control command;

[0039] Control instruction accuracy A 准确率 The calculation formula is:

[0040]

[0041] Among them, the number of correctly executed control instructions refers to the number of control instructions that the control system correctly executes in response, the total number of control instructions refers to the total number of control instructions issued, the number of incorrect executions refers to the number of times the control system incorrectly executes instructions within the action time, and the total number of executions refers to the total number of times the control system executes instructions within the operating time.

[0042] As a preferred method, in step 7, according to the rolling stone risk assessment index R 滚石 , evaluate the risk level of rockfall hazards at tunnel entrances, and use the rockfall risk assessment index R 滚石 The calculation formula is:

[0043] R 滚石 =Number of potential danger points × scale of potential danger points × geological stability coefficient × rainfall impact coefficient

[0044] Among them, the rainfall impact coefficient is set according to the local rainfall conditions and historical rockfall records, the geological stability coefficient is taken according to the survey and design data, and the number and scale of potential danger points are obtained through video and photograph analysis.

[0045] The beneficial effects of the present invention are:

[0046] 1. The present invention uses an unmanned aerial vehicle platform to carry a line-laying device and a pan-tilt camera, which effectively overcomes the problem that the common unmanned aerial vehicle pan-tilt camera is blocked by plants and cannot effectively survey. At the same time, remote control and automated operation are realized, which greatly improves the survey efficiency and safety, provides a new technical means for the safety monitoring of tunnel projects, and has broad application prospects.

[0047] 2. The wire-releasing device of the present invention adopts a unique design of a small cigarette-making machine, which can accurately control the release and recovery of the suspension wire, realize the lowering and recovery operations of the pan-tilt camera, and at the same time solve the rotation problem of the pan-tilt camera during the lowering process through the coordinated work of multiple suspension wires. By adding a damper, the impact of the shaking of the pan-tilt camera is reduced, thereby improving the flexibility and accuracy of the survey.

[0048] 3. The present invention introduces the stability coefficient K 稳定 And load safety factor K 载重 , ensuring the stability and safety of the drone in complex environments.

[0049] 4. The pan-tilt camera of the present invention has high-precision pan-tilt control function, night vision and infrared shooting functions, can adapt to the survey needs under different lighting conditions, and improves the shooting quality and stability.

[0050] 5. The control system of the present invention integrates UAV flight control, line-releasing device operation and pan-tilt camera shooting instructions, thereby improving the reliability and efficiency of the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of a process for rockfall survey at a tunnel entrance based on a drone suspension gimbal provided by the present invention;

[0052] Figure 2 A schematic diagram of a detection device provided by the present invention;

[0053] Figure 3 A schematic diagram of a wire-releasing device provided by the present invention;

[0054] Explanation of the reference numerals: 1-UAV platform; 2-line-releasing device; 3-pan-tilt camera; 4-control system; 201-winch, 202-center suspension line, 203-oblique suspension line; 204-side suspension line; 205-suspension hoist; 206-connecting plate; 207-damper; 208-hook; 209-protective shell; 210-limiter; 211-base; 212-protective shell control switch. DETAILED DESCRIPTION

[0055] The present invention is further described below in conjunction with embodiments. The description of the following embodiments is only used to help understand the present invention. It should be noted that for ordinary persons in the art, without departing from the principle of the present invention, the present invention can also be modified in some ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0056] Embodiment 1:

[0057] In order to solve the problems of the prior art, the present invention provides a tunnel entrance rolling stone survey device based on a drone suspension gimbal, such as Figure 2 As shown in the figure, the device is mainly composed of a UAV platform 1, a small cigarette machine-style wire-releasing device (hereinafter referred to as the wire-releasing device 2), a pan-tilt camera 3 and a control system 4. The UAV platform 1 is responsible for lifting the wire-releasing device 2 and the pan-tilt camera 3 to a predetermined height and maintaining stable flight; the wire-releasing device 2 adopts a unique design of a small cigarette machine to achieve accurate release and recovery of the hanging wire, ensuring the accurate lowering and recovery of the pan-tilt camera 3; the pan-tilt camera 3 is equipped with a high-precision pan-tilt control function and night vision and infrared shooting capabilities to meet the survey needs under different lighting conditions; the control system 4 integrates UAV flight control, wire-releasing device operation and pan-tilt camera shooting instructions to achieve remote control and data storage and analysis.

[0058] Specifically, the line-releasing device 2 is installed on the UAV platform 1, and the gimbal camera 3 is connected to the line-releasing device 2 through the suspension line released by the line-releasing device 2; the control system 4 is used to control the flight of the UAV platform 1, the operation of the line-releasing device 2 and the shooting of the gimbal camera 3.

[0059] like Figure 3 As shown, the wire-releasing device 2 is composed of a winch 201, a central suspension line 202, an oblique suspension line 203, a side suspension line 204, a suspension hoist 205, a connecting plate 206, a damper 207, a hook 208, a protective shell 209, a limiter 210, a base 211 and a protective shell control switch 212.

[0060] Among them, the hoist 201 is used to drive the middle suspension line 202, the oblique suspension line 203 and the side suspension line 204 to work together to lower and recover the pan-tilt camera 3. Through the coordinated work of multiple suspension lines, the lowering process of the pan-tilt camera is ensured to be more stable, and the self-rotation problem of the pan-tilt camera during the lowering process is solved. Specifically, rotary encoders are installed on the hoist 201 and the drum drive shafts corresponding to each suspension line, and the rotation angle of the drum is measured in real time by the rotary encoder, so as to calculate the length of each suspension line released or wound in, so that the hoist 201 drives each suspension line to work together, and effectively controls the accurate synchronization of lowering and recovering the pan-tilt camera 3. An acceleration sensor is installed on the pan-tilt camera 3 to monitor the posture change of the pan-tilt camera in real time. Once the self-rotation trend is detected, the tension distribution of each suspension line is adjusted, such as appropriately increasing or reducing the tension on a specific suspension line, to generate the necessary torque to correct the posture of the pan-tilt camera and maintain its stability during the lowering process.

[0061] The suspension hoist 205 is used to control the lowering speed of the oblique suspension line 203 and the side suspension line 204; the connecting plate 206 is used to connect the middle suspension line 202, the oblique suspension line 203 and the side suspension line 204 to achieve the coordinated operation of multiple suspension lines. The damper 207 is used to reduce the impact of the shaking of the pan-tilt camera 3 during operation; during operation, the pan-tilt camera 3 is installed in the base 211 of the protective shell 209, the hook 208 is used to hook the protective shell 209, and the limiter 210 is used to accurately control the camera installation position and effectively limit the sliding of the pan-tilt camera 3 during operation. The protective shell control switch 212 is installed on the side of the protective shell 209, which is used to open or close the protective shell 209, so as to facilitate the placement and removal of the pan-tilt camera 3.

[0062] Embodiment 2:

[0063] Based on Example 1, Example 2 of the present application provides a method for rockfall survey at a tunnel entrance based on a drone suspension gimbal, such as Figure 1 As shown, including:

[0064] Step 1: Equipment selection and preparation: Select a suitable UAV platform 1, gimbal camera 3 and control system 4 according to the survey requirements, and design a line-laying device 2 that meets the operational requirements.

[0065] In step 1, UAV platform 1 is used as the carrier of the entire system. Its selection must meet the maximum load requirement. The selection of UAV platform 1 meets the following formula requirements:

[0066] M 无人机 ≥M 放线装置 +M 云台相机 +M 安全裕量

[0067] Among them, M 无人机 is the maximum load of the UAV platform 1, M放线装置 is the mass of the pay-off device 2, M 云台相机 is the mass of the gimbal camera 3, M 安全裕量 The safety mass margin is reserved to take into account factors such as wind resistance and vibration.

[0068] The wire-releasing device 2 is designed like a small cigarette-making machine, which is lightweight and can accurately control the release and recovery of the hanging wire. The total length of the wire-releasing device 2 meets the following formula requirements:

[0069] L 悬线 ≥H 无人机 +H 安全裕量 +H 地形起伏

[0070] Among them, L 悬线 is the total length of the suspension wire, H 无人机 is the flight altitude of the UAV, H 安全裕量 The safety height margin reserved to consider factors such as wind deviation and gimbal camera droop, H 地下起伏 It is the maximum undulation height of the terrain above the tunnel entrance.

[0071] In this embodiment, assuming that the flying altitude of the drone is 100m, the safety margin is reserved as 10m (considering factors such as wind deviation and drooping of the gimbal camera), and the maximum undulation height of the terrain above the tunnel entrance is 20m, the total length of the required suspension wire is 130m.

[0072] The PTZ Camera 3 is equipped with high-precision PTZ control function, and is equipped with night vision and infrared shooting functions to meet the survey needs under different lighting conditions.

[0073] The control system 4 integrates the UAV flight control, the line-releasing device operation and the gimbal camera shooting instructions into one, realizing remote control, data storage and result analysis.

[0074] According to the maximum load of the UAV platform and the mass of the line-releasing device and the gimbal camera, a certain weight safety mass margin is reserved to ensure the stability of the UAV when carrying additional loads. At the same time, the present invention calculates the stability coefficient and load safety factor of the UAV to ensure the stability and safety of the UAV in actual operation.

[0075] Stability coefficient K 稳定 The calculation formula is:

[0076]

[0077] Among them, M 无人机最大设计载重 is the maximum design load of the drone (including the drone’s own weight and the maximum load it can carry); when K 稳定When it is greater than or equal to 1, it means that the drone has sufficient stability margin when carrying the line-releasing device and the hanging gimbal camera; the load safety factor K 载重 The calculation formula is:

[0078]

[0079] Among them, M 无人机实际载重 is the load mass carried by the UAV in actual operation (including the line-releasing device, the gimbal camera and possible other accessories), β is the upper limit of the load safety factor, which is usually determined according to the design specifications and operating environment of the UAV. 载重 When it is less than or equal to β, it means that the load of the UAV in actual operation is safe.

[0080] Step 2: Route planning: Plan the flight path of the drone and the location of the gimbal camera according to the topography of the tunnel entrance and the distribution of vegetation.

[0081] Step 3: Take off and ascend: Operate the drone to take off according to the predetermined path and rise to an appropriate height, ensuring that the line release device and gimbal camera are away from ground obstacles.

[0082] Step 4. Lower the gimbal camera: Start the wire-releasing device through the control system, slowly release the suspension wire, and gradually lower the gimbal camera to above the target survey point. At the same time, adjust the gimbal angle to ensure that the shooting range is fully covered.

[0083] Step 5: Shooting and recording: Start the PTZ camera shooting mode to collect high-definition images of the tunnel entrance terrain and potential rockfall hazards, and transmit them to the control system in real time for storage and analysis.

[0084] Step 6: Recover the gimbal camera: After shooting, use the control system to operate the wire-releasing device to recover the hanging wire and gimbal camera until they are safely returned to the drone platform.

[0085] Step 7: Data analysis and evaluation: Import the collected image data into professional software for analysis, identify potential rockfall hazards, and provide protection recommendations.

[0086] Specifically, the method provided in this embodiment is a method corresponding to the device provided in Example 1. Therefore, the parts in this embodiment that are the same or similar to those in Example 1 can be referenced to each other and will not be repeated in this application.

[0087] Embodiment 3:

[0088] Based on Example 2, Example 3 of the present application provides a more specific method for detecting rockfall at a tunnel entrance based on a drone suspension gimbal, such as Figure 1 As shown, including:

[0089] Step 1: Equipment selection and preparation: Select a suitable UAV platform, gimbal camera and control system according to the survey requirements, and design a line-laying device that meets the operational requirements.

[0090] Step 2: Route planning: Plan the flight path of the drone and the location of the gimbal camera according to the topography of the tunnel entrance and the distribution of vegetation.

[0091] Step 3: Take off and ascend: Operate the drone to take off according to the predetermined path and rise to an appropriate height, ensuring that the line release device and gimbal camera are away from ground obstacles.

[0092] Specifically, for the survey needs of a tunnel entrance, the flight path of the drone and the location of the pan-tilt camera 3 are planned according to the terrain and vegetation distribution. The drone takes off according to the predetermined path and rises to a certain height to ensure that the line-laying device 2 and the pan-tilt camera 3 are away from ground obstacles. During the take-off process, the flight status of the drone is monitored in real time to ensure that it maintains a stable flight.

[0093] Step 4. Lower the gimbal camera: Start the wire-releasing device through the control system, slowly release the suspension wire, and gradually lower the gimbal camera to above the target survey point. At the same time, adjust the gimbal angle to ensure that the shooting range is fully covered.

[0094] During the process of lowering the pan-tilt camera 3, the control system 4 starts the wire release device 2, slowly releases the suspension wire, and gradually lowers the pan-tilt camera 3 to the target survey point. At the same time, the pan-tilt angle is adjusted to ensure that the shooting range is fully covered. In order to accurately control the process of lowering the suspension wire, the suspension wire release accuracy index P is introduced. 控制 , and calculate its value in real time to ensure that the wire release device 2 has a high control accuracy. 控制 The calculation formula is:

[0095]

[0096] Among them, L 实际释放 L is the length of the suspension wire actually released by the pay-off device. 理论释放 is the theoretical release length, δ is the allowable error range. 控制 When it is less than or equal to δ, it indicates that the pay-off device has a higher control accuracy.

[0097] In this embodiment, the error between the actual length of the hanging wire released by the wire-releasing device 2 and the theoretical length of the wire-releasing device 2 is within ±1m (δ=1m). After testing, P 控制 =0.0077 (less than δ), indicating that the pay-off device has a higher control accuracy.

[0098] Step 5: Shooting and recording: Start the PTZ camera shooting mode to collect high-definition images of the tunnel entrance terrain and potential rockfall hazards, and transmit them to the control system in real time for storage and analysis.

[0099] After the pan-tilt camera 3 starts the shooting mode, it collects high-definition images of the tunnel entrance terrain and potential rockfall hazards, and transmits them to the control system 4 in real time for storage and analysis. The shooting quality is evaluated and controlled based on the image clarity and shooting stability coefficient to ensure that the acquired survey images have high clarity, low noise and good contrast. At the same time, the pan-tilt camera 3 remains stable during the shooting process. Among them, the image clarity Q 图像 And shooting stability coefficient K 拍摄稳定 The calculation formulas are as follows:

[0100]

[0101] Among them, image resolution, noise level and contrast are all evaluation indicators of image quality. 图像 When it is higher, it means that the images captured by the gimbal camera are clear, low in noise, and have good contrast.

[0102]

[0103] The stable shooting time refers to the time during which the pan-tilt camera 3 remains stable during the shooting process, and the total shooting time refers to the time of the entire shooting process. 拍摄稳定 When it is higher, it means that the gimbal camera has better stability during shooting.

[0104] In this embodiment, the image resolution captured by the PTZ camera 3 is 4000×3000 pixels, the noise level is 0.01%, and the contrast is 120:1. 图像 =96, indicating that the images taken by the PTZ camera 3 have high definition, low noise and good contrast.

[0105] During the shooting process, the time that the pan-tilt camera 3 remained stable accounted for 98% of the total shooting time, and the number of shakes was 5 times, and the total number of shooting times was 10,000 times. K is calculated to be 拍摄稳定 =0.98, indicating that the gimbal camera has good stability during shooting.

[0106] Step 6: Recover the gimbal camera: After shooting, use the control system to operate the wire-releasing device to recover the hanging wire and gimbal camera until they are safely returned to the drone platform.

[0107] Step 7: Data analysis and evaluation: Import the collected image data into professional software for analysis, identify potential rockfall hazards, and provide protection recommendations.

[0108] After the shooting is completed, the control system 4 operates the line-releasing device 2 to recycle the hanging line and the pan-tilt camera 3 until they are safely returned to the drone platform 1. During the recovery process, the flight status of the drone and the working condition of the line-releasing device 2 are monitored in real time to ensure that the recovery process is smooth and safe.

[0109] After the collected image data was imported into professional software for analysis, the potential risk points of rockfall at the tunnel entrance were identified, and the risk level was assessed based on the rockfall risk assessment index. 滚石 Calculate according to the following formula. According to the evaluation results, corresponding protective measures are proposed to reduce the impact of rock rolling hazards on tunnel safety.

[0110] R 滚石 =Number of potential danger points × scale of potential danger points × geological stability coefficient × rainfall impact coefficient

[0111] Among them, the rainfall impact coefficient is set according to the local rainfall conditions and historical rockfall records, the geological stability coefficient is taken according to the survey and design data, and the number and scale of potential danger points are obtained through video and photograph analysis.

[0112] The control system integrates the UAV flight control, the operation of the line-releasing device 2 and the shooting instructions of the PTZ camera 3 to realize remote control and data storage and analysis. In order to improve the reliability and efficiency of the control system, the control instruction response rate R is introduced in steps 2 to 7. 响应率 And control instruction accuracy A 准确率 Two indicators are used to evaluate the working performance of the control system: control command response rate R 响应率 :Used to evaluate the response speed of the control system to the control command. Control command response rate R 响应率 The calculation formula is:

[0113]

[0114] The number of control instructions responded refers to the number of control instructions successfully responded by the control system, the total number of control instructions refers to the total number of control instructions issued, and T 平均响应时间 is the average response time of the control system to the control command, in seconds. 响应率 When it is higher, it means that the control system responds quickly and accurately to the control instructions.

[0115] Control instruction accuracy A 准确率 It is used to evaluate the accuracy of the control system in executing control instructions. The calculation formula is:

[0116]

[0117] Among them, the number of correctly executed control instructions refers to the number of control instructions that the control system correctly executes in response, the total number of control instructions refers to the total number of control instructions issued, the number of incorrect executions refers to the number of incorrect executions of instructions by the control system during the action time, and the total number of executions refers to the total number of executions of instructions by the control system during the operation time. 准确率 When it is higher, it means that the control system can accurately execute control instructions and improve work efficiency and safety.

[0118] In this embodiment, after a period of testing and recording, the number of control instructions successfully responded by the control system accounts for 99% of the total number of control instructions (the average response time T is 0.1 seconds), and R is calculated. 响应率 =9.9, indicating that the control system responds to control instructions quickly and accurately, and can respond and execute instructions quickly.

[0119] In this embodiment, after testing and recording, the control system of the present invention can correctly execute all issued control instructions 100%, that is, the control instruction accuracy is 100% (A 准确率 =1). This indicates that the control system has high accuracy in executing control instructions.

[0120] It should be noted that the parts in this embodiment that are the same or similar to those in Embodiment 2 can be referenced to each other and will not be described in detail in this application.

Claims

1. A tunnel entrance rockfall survey device based on a drone suspended gimbal, characterized in that: include: UAV platform (1), line-releasing device (2), gimbal camera (3) and control system (4); The line-releasing device (2) is installed on the UAV platform (1), and the gimbal camera (3) is connected to the line-releasing device (2) via the suspension line released by the line-releasing device (2); the control system (4) is used to control the flight of the UAV platform (1), the operation of the line-releasing device (2) and the shooting of the gimbal camera (3).

2. The tunnel entrance rockfall survey device based on a drone suspension gimbal according to claim 1 is characterized in that: The wire-releasing device (2) is composed of a winch (201), a central suspension wire (202), an oblique suspension wire (203), a side suspension wire (204), a suspension hoist (205), a connecting plate (206), a damper (207), a hook (208), a protective shell (209), a stopper (210), a base (211), and a protective shell control switch (212); The winch (201) is used to drive the central suspension line (202), the oblique suspension line (203) and the side suspension line (204) to work together to lower and recover the pan-tilt camera (3); the suspension hoist (205) is used to control the lowering speed of the oblique suspension line (203) and the side suspension line (204); the connecting plate (206) is used to connect the central suspension line (202), the oblique suspension line (203) and the side suspension line (204); the damper (207) is used to reduce the impact of shaking of the pan-tilt camera (3) during operation; the pan-tilt camera (3) is installed in the base (211) of the protective shell (209), the hook (208) is used to hook the protective shell (209), and the limiter (210) is used to control the installation position of the pan-tilt camera (3).

3. A method for rockfall survey at tunnel entrance based on drone gimbal, characterized in that: Executed by the device of claim 1 or 2, comprising: Step 1: Equipment selection and preparation: Select a suitable UAV platform (1), gimbal camera (3) and control system (4) according to the survey requirements, and design a line-laying device (2) that meets the operational requirements; Step 2: Route planning: Plan the flight path of the drone and the location of the gimbal camera (3) according to the topography of the tunnel entrance and the distribution of vegetation; Step 3, take-off and lift-off: operate the drone to take off according to the predetermined path and rise to an appropriate height, ensuring that the line release device (2) and the gimbal camera (3) are away from ground obstacles; Step 4, lowering the pan-tilt camera (3): start the wire-releasing device (2) through the control system (4), slowly release the hanging wire, and gradually lower the pan-tilt camera (3) to above the target survey point, while adjusting the pan-tilt angle to ensure that the shooting range is fully covered; Step 5, shooting and recording: Start the shooting mode of the pan-tilt camera (3), collect high-definition images of the tunnel entrance terrain and potential rockfall hazards, and transmit them to the control system (4) in real time for storage and analysis; Step 6, recovering the pan-tilt camera (3): After the shooting is completed, the control system (4) operates the line-releasing device (2) to recover the hanging line and the pan-tilt camera (3) until they are safely returned to the UAV platform (1); Step 7: Data analysis and evaluation: Import the collected image data into professional software for analysis, identify potential rockfall hazards, and provide protection recommendations.

4. The method for rockfall investigation at tunnel entrance based on drone suspension gimbal according to claim 3 is characterized in that: In step 1, the selection of the UAV platform (1) satisfies the following formula requirements: M 无人机 ≥M 放线装置 +M 云台相机 +M 安全裕量 Among them, M 无人机 is the maximum load of the UAV platform (1), M 放线装置 is the mass of the pay-off device (2), M 云台相机 is the mass of the gimbal camera (3), M 安全裕量 It is the safety quality margin.

5. The method for rockfall investigation at tunnel entrance based on drone gimbal according to claim 4 is characterized in that: In step 1, the stability coefficient K is also calculated 稳定 And load safety factor K 载重 Determine whether the UAV platform (1) meets the requirements, the stability coefficient K 稳定 The calculation formula is: Among them, M 无人机最大设计载重 is the maximum design load of the UAV; when K 稳定 When it is greater than or equal to 1, it means that the drone has sufficient stability margin; the load safety factor K 载重 The calculation formula is: Among them, M 无人机实际载重 is the load mass carried by the UAV in actual operation, β is the upper limit of the load safety factor, when K 载重 When it is less than or equal to β, it means that the load of the UAV in actual operation is safe.

6. The method for rockfall investigation at tunnel entrance based on drone suspension gimbal according to claim 5 is characterized in that: In step 1, the total length of the pay-off device (2) satisfies the following formula requirements: L 悬线 ≥H 无人机 +H 安全裕量 +H 地形起伏 Among them, L 悬线 is the total length of the suspension wire, H 无人机 is the flight altitude of the UAV, H 安全裕量 is the safety height margin, H 地下起伏 It is the maximum undulation height of the terrain above the tunnel entrance.

7. The method for rockfall investigation at tunnel entrance based on drone suspension gimbal according to claim 6 is characterized in that: In step 4, the precision index P is released by the hanging wire. 控制 , to control the lowering accuracy of the suspension line, the calculation formula is: Among them, L 实际释放 is the length of the hanging wire actually released by the wire-releasing device (2), L 理论释放 is the theoretical release length, δ is the allowable error range, and when P control is less than or equal to δ, it means that the pay-off device (2) meets the control accuracy requirement.

8. The method for rockfall investigation at tunnel entrance based on drone suspension gimbal according to claim 7 is characterized in that: In step 5, the image clarity Q 图像 And shooting stability coefficient K 拍摄稳定 Evaluate the shooting quality and shooting stability of the gimbal camera 3; image clarity Q 图像 The calculation formula is: Among them, image resolution, noise level and contrast are all evaluation indicators of image quality; Shooting stability coefficient K 拍摄 The stable calculation formula is: The stable shooting time refers to the time during which the gimbal camera (3) remains stable during the shooting process, the total shooting time refers to the time of the entire shooting process, the number of shakes refers to the number of shakes during the shooting process, and the total number of shots refers to the total number of shots during the entire shooting process.

9. The method for rockfall detection at tunnel entrance based on drone gimbal according to claim 8, characterized in that: In step 2 to step 7, the control command response rate R is introduced 响应率 And control instruction accuracy A 准确率 Two indicators are used to evaluate the working performance of the control system 4: the control command response rate R 响应率 The calculation formula is: The number of control instructions responded refers to the number of control instructions successfully responded by the control system (4), the total number of control instructions refers to the total number of control instructions issued, and T 平均响应时间 is the average response time of the control system (4) to the control command; Control instruction accuracy A 准 The calculation formula of accuracy is: The number of correctly executed control instructions refers to the number of control instructions correctly executed by the control system (4), the total number of control instructions refers to the total number of control instructions issued, the number of incorrect executions refers to the number of incorrect executions of instructions by the control system (4) within the action time, and the total number of executions refers to the total number of executions of instructions by the control system (4) within the operation time.

10. The method for rockfall investigation at tunnel entrance based on drone suspension gimbal according to claim 9, characterized in that: In step 7, according to the Rolling Stone risk assessment index R 滚石 , evaluate the risk level of rockfall hazards at tunnel entrances, and use the rockfall risk assessment index R 滚石 The calculation formula is: R 滚石 =Number of potential danger points × scale of potential danger points × geological stability coefficient × rainfall impact coefficient Among them, the rainfall impact coefficient is set according to the local rainfall conditions and historical rockfall records, the geological stability coefficient is taken according to the survey and design data, and the number and scale of potential danger points are obtained through video and photograph analysis.

Images