Unmanned aerial vehicle remote sensing device for detecting glacier climate change

Abstract

The invention discloses an unmanned aerial vehicle remote sensing device for detecting glacier climate change, and relates to the technical field of unmanned aerial vehicle remote sensing. Comprising fluctuating units which are hung below an unmanned aerial vehicle body at equal angles and change in a self-adaptive fluctuating mode according to rising turbulence. The center supporting rods are arranged at the centers of the multiple sets of fluctuating units and fixedly connected with the lower surface of the unmanned aerial vehicle body, and the eccentric balance weight balls are distributed in the fluctuating units at equal angles and used for adjusting the centrifugal distance in a self-adaptive mode according to ascending airflow so as to adjust and control the gravity center of the unmanned aerial vehicle body. The left side fluctuating unit ascends preferentially and extrudes the eccentric counterweight ball in the horizontal direction through the inclined surface on one side of the cavity, so that the eccentric counterweight ball gradually and horizontally slides in a telecentric manner along the outer wall of the positioning rod and compresses the first spring; at the moment, the eccentric counterweight ball in the left fluctuating unit is gradually telecentric to preliminarily balance the condition that the gravity center of the unmanned aerial vehicle body deviates rightwards.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle remote sensing, and in particular to an unmanned aerial vehicle remote sensing device for detecting glacier climate change. Background Art

[0002] Glaciers are very sensitive to global climate change and can serve as "sentinels" of climate change. Glacier melting and morphological changes provide direct information about climate fluctuations. At the same time, glaciers are important freshwater resources and are of great significance to many ecosystems and human society. Glacier meltwater is an important source of water for many rivers and lakes. These characteristics make glacial climate important in geography and climate research, and it is also an important indicator for monitoring global climate change.

[0003] However, due to the adverse effects of geographical location and extreme climate, climate change detection on glaciers can only rely on intelligent equipment, and it is impossible to conduct on-site inspections and records. For example, the Chinese patent with publication number CN118050038A proposes a sky-air-ground glacier monitoring method based on remote sensing and ground observation technology. It integrates the advantages of satellite remote sensing technology, which has a wide range and long time scale, low-altitude flight aerial survey by unmanned aerial vehicles, and real-time positioning and shooting of cameras and collection of meteorological parameters, into a collaborative and efficient monitoring method that combines the advantages of three satellite remote sensing technologies: aerial remote sensing technology and ground observation technology, namely, a wide range and long time scale of satellite remote sensing, and good flexibility in time and space scales.

[0004] When using drone remote sensing devices to detect glacier climate change, drones are generally equipped with radar modules and other necessary sensors, such as GPS and inertial measurement units (IMUs), to carry out pre-flight preparations, including route planning and equipment inspections. During the flight, the radar module starts to work and transmits microwave signals to the ground. When the microwave signals emitted by the radar module encounter the surface and internal structure of the glacier, reflection and scattering will occur. Part of the signal will return to the drone's radar receiver, and the collected data needs to be processed, including denoising, correction, and analysis, to extract useful information. By analyzing the time delay and frequency changes of the signal, parameters such as the thickness and movement speed of the glacier can be inferred.

[0005] In fact, the biggest challenge for drones in glacial climates is the strong updrafts caused by glacial winds. The existence and intensity of glacial winds are affected by the size and topography of the glacier. For larger glaciers, glacial winds generally prevail throughout the day and extend to places far from the front of the glacier. The average wind speed can reach 3 to 10 meters per second (about level 7 wind). This strong airflow movement will cause the air in the glacial margin to rise, forming a significant updraft. The updrafts affected by the irregular glacial margin often appear in the form of turbulence. During the period of glacial wind, directional cruising drones will inevitably be affected by the updraft turbulence during the entire flight. Since the airflow mainly acts on the larger part of the drone's body with a larger bearing plane to form a significant lift, it has a certain degree of power saving effect in terms of drone endurance, but it is accompanied by: turbulence will cause uneven lift on the drone, causing the drone to shake all the time, which will lead to the feedback data when the drone remotely controls the radar to illuminate the glacier is not stable and accurate enough (because once the drone yaws, the radar signal between the radar signal and the glacier surface is no longer a vertical line, but a diagonal line, and the data signal fed back will be larger); Because the main purpose of the present invention is to solve the problem of the stability of the drone being affected by the rising turbulence; In response to the above problems, there is an urgent need to make innovative designs based on the original UAV remote sensing devices used to detect glacier climate change. Summary of the invention

[0006] The technical solution of the present invention aims at the technical problem that the existing technical solutions are too single, and provides a solution that is significantly different from the existing technologies. Specifically, the purpose of the present invention is to provide a UAV remote sensing device for detecting glacial climate changes, so as to solve the problem proposed in the above background technology that the directionally cruising UAV during the period of prevailing glacial winds will inevitably be affected by the rising turbulence during the entire flight. Since the airflow mainly acts on the body part of the UAV with a larger bearing plane to form a significant lift, it has a certain degree of power saving effect in terms of the UAV's endurance. However, it is accompanied by: turbulence will cause uneven lift on the UAV, causing the UAV to be in a state of constant shaking, which in turn leads to the problem that the graphic data is not stable and clear enough during aerial photography and monitoring of the glacial climate.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a UAV remote sensing device for detecting glacial climate change, comprising a UAV body and a radar detection module carried on the UAV body, and also comprising an undulating unit suspended at an equal angle below the UAV body and adaptively undulating according to the rising turbulence, a central support rod arranged at the center of a plurality of groups of undulating units and fixedly connected to the lower surface of the UAV body, and an eccentric weight ball distributed at an equal angle inside each of the undulating units and adaptively adjusting the centrifugal distance according to the rising airflow to control the center of gravity of the UAV body; An eccentric distance adjustment component is arranged between the lower end of the central support rod and the eccentric weight ball, and an arc-shaped slide plate which can be used for buffering when the drone body lands by synchronous sliding is sleeved on the outer wall of the upper end of the central support rod at an equal angle, and a telescopic rod is installed between the arc-shaped slide plate and the undulating unit; The oil chamber of the sleeve of the telescopic rod is divided into upper and lower parts by the T-shaped end of the piston rod, and the lower oil chamber of the sleeve of the telescopic rod is connected to the lower oil chamber of the corresponding sleeve on the other side through a hose, and the upper oil chamber of the sleeve of the telescopic rod is connected to a pressure compensation mechanism; The oiling chambers of the two sleeves are connected through a hose.

[0008] Preferably, a base of a damper is fixed in the arc-shaped groove on the upper surface of the undulating unit, and the telescopic end of the damper is fixedly connected to the lower surface of the drone body.

[0009] Preferably, a cavity is provided inside the undulating unit, and an eccentric weighted ball is slidably disposed inside the cavity.

[0010] Preferably, the eccentric distance adjustment assembly includes a positioning rod, an eccentric weight ball, a first spring and a stopper, and the positioning rod is fixed at an equal angle to the lower end of the central support rod, and the end of the positioning rod passes through the undulating unit and is arranged inside the cavity, the eccentric weight ball is slidably arranged on the outer wall of the positioning rod, and the outer wall of the positioning rod away from the eccentric weight ball is fixed with a stopper; A first spring is wound around the outer wall of the positioning rod, one end of the first spring is welded to the side wall of the stopper, and the other end of the first spring is fixed to the outer wall of the eccentric weight ball.

[0011] Preferably, a vertical groove slidably matched with the end of the positioning rod is provided on the inner wall of the cavity away from the eccentric weight ball; The other side surface of the cavity is gradually tilted from top to bottom, and the eccentric weight ball is slidably fitted with the inclined side of the cavity; The inclined side of the cavity is provided with a slot for the positioning rod to move vertically.

[0012] Preferably, a cross groove is provided through the interior of the upper end of the central support rod, and a cross rod and a longitudinal rod are vertically staggeredly arranged in the internal space of the cross groove.

[0013] Preferably, the cross bar and the longitudinal bar are respectively fixedly connected to the two arc-shaped slides that are opposite to each other, and the cross bar and the longitudinal bar are slidably connected to the cross groove without affecting each other.

[0014] Preferably, the outer end of the arc-shaped slide plate is hinged to the piston rod of the telescopic rod, and the sleeve end of the telescopic rod is hinged to the upper surface of the undulating unit.

[0015] Preferably, the pressure compensation mechanism comprises a pressure compensation tank, a piston plate and a second spring, and the pressure compensation tank is fixed to the lower surface of the drone body, the piston plate is sealingly and slidably provided inside the pressure compensation tank, and one end of the second spring is fixed to the upper surface of the piston plate, and the other end of the second spring is fixed to the inner wall of the pressure compensation tank; The pressure compensation tank is divided into two upper and lower chambers by a piston plate, and the upper chamber is filled with natural air, and a natural exhaust port is opened on the side of the upper chamber; The interior of the lower chamber is filled with oil and is connected to the upper oil chamber of the sleeve chamber through a hose.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. Assuming that the upward turbulence causes the upward thrust of the left undulation unit to be greater than that of the right undulation unit, the center of gravity of the fuselage will shift to the right. At the same time, the left undulation unit will rise first and squeeze the eccentric weight ball in the horizontal direction through the inclined surface of one side of the cavity, so that the eccentric weight ball slides horizontally along the outer wall of the positioning rod gradually and compresses the first spring. At this time, the eccentric weight ball in the left undulation unit gradually moves away from the center to preliminarily balance the deviation of the center of gravity of the drone body to the right. Next, when the left undulating unit rises, due to the uneven lifting force on the two undulating units on both sides, the forces on both sides transmitted from the telescopic rods on both sides to the two arc-shaped slides are uneven. The two arc-shaped slides fixedly connected and slidably sleeved on the outer wall of the central support rod are in a "stuck" state when the forces are uneven. Therefore, when the left undulating unit rises, it will not push the two arc-shaped slides to slide vertically upward along the outer wall of the central support rod, but only compress the left telescopic rod. At the same time, when the telescopic rod contracts, the oil in the lower oil chamber of the telescopic rod will be squeezed into the lower oil chamber of the right telescopic rod through the hose, so that the right The telescopic rod on the right side gradually begins to extend outward. Similarly, the two arc-shaped slides are unevenly stressed and will not slide upward along the outer wall of the central support rod. Therefore, the gradually extended right telescopic rod can only press down the right undulating unit, so that the right undulating unit and the left undulating unit move vertically in the opposite direction. Similarly, when the right undulating unit falls, the eccentric weight ball inside the right cavity gradually slides horizontally along the outer wall of the positioning rod under the cooperation of the reset push of the first spring and the side walls of the cavity, so as to further balance the deviation of the center of gravity of the drone body to the right. 2. In addition to the effect of adaptively adjusting the center of gravity of the drone body to ensure the stability of the fuselage during cruising, the present invention also has certain advantages in the landing protection direction of the drone body: When the return mark is higher on the left and lower on the right, the center of gravity of the fuselage will deviate to the right at the moment of landing, and it is easy to force the fuselage to tilt to the right under the reaction force: the legs of the left undulation unit will touch the ground first, causing the undulation unit to rise first. Similarly, the eccentric counterweight ball in the left undulation unit gradually becomes remote from the center to initially balance the situation where the center of gravity of the drone body shifts to the right, and the eccentric counterweight ball in the left undulation unit gradually becomes close to the center to further balance the situation where the center of gravity of the drone body shifts to the right. Similarly, when the return mark is lower on the left and higher on the right, the center of gravity of the fuselage will deviate to the left at the moment of landing, and it is easy to force the fuselage to tilt to the left under the reaction force: Similarly, the eccentric counterweight ball in the left undulation unit gradually becomes close to the center to initially balance the situation where the center of gravity of the drone body shifts to the left, and the eccentric counterweight ball in the right undulation unit gradually becomes remote from the center to further balance the situation where the center of gravity of the drone body shifts to the left.

[0017] When the return point is relatively horizontal: When the drone body lands at the return point, the legs at the lower ends of the four undulation units will touch the ground first and simultaneously and bear the weight of the entire fuselage. At this time, the drone body, under the action of falling inertia and impact force, synchronously approaches the four undulation units and adaptively compresses the dampers set at equal angles between the drone body and the undulation units. In addition, the four arc-shaped slides mounted on the central support rod will simultaneously rise along the outer wall of the central support rod due to uniform force, so as to cushion the impact force of the drone body when landing, thereby achieving a soft landing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the first three-dimensional structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the second three-dimensional structure of the present invention.

[0020] Figure 3 It is a schematic diagram of the third three-dimensional structure of the present invention.

[0021] Figure 4 It is a schematic diagram of the overall structure of the undulating unit of the present invention.

[0022] Figure 5 It is a three-dimensional cross-sectional schematic diagram of the undulating unit of the present invention.

[0023] Figure 6 It is a three-dimensional schematic diagram of the undulating units facing each other in pairs according to the present invention.

[0024] Figure 7 It is a schematic diagram of the three-dimensional structure of the central support rod of the present invention.

[0025] Figure 8 It is a schematic diagram of the connection structure between the cross bar and the central support bar of the present invention.

[0026] Fig. 9 It is a schematic diagram of the connection structure between the longitudinal rod and the central support rod of the present invention.

[0027] Fig.10 It is a schematic cross-sectional structure diagram of the telescopic rod and the pressure compensation mechanism of the present invention.

[0028] Fig.11 It is a schematic diagram of the three-dimensional structure of the notch on the inclined side of the cavity.

[0029] Fig.12 It is a schematic diagram of the positional relationship between the horizontal rod and the vertical rod in the present invention.

[0030] In the figure: 1. UAV body; 2. Heave unit; 21. Damper; 22. Cavity; 23. Vertical slot; 24. Notch; 3. Center support rod; 31. Positioning rod; 32. Eccentric weight ball; 33. First spring; 34. Stopper; 35. Cross slot; 4. Arc slide; 41. Cross bar; 42. Longitudinal bar; 5. Telescopic rod; 6. Pressure compensation tank; 61. Piston plate; 62. Second spring. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figures 1 to 12 The present invention provides a technical solution: a UAV remote sensing device for detecting glacier climate change, comprising a UAV body 1 and a radar detection module carried on the UAV body 1, and also comprising an undulating unit 2 suspended at an equal angle below the UAV body 1 and adaptively undulating according to the rising turbulence, a central support rod 3 arranged at the center of a plurality of groups of undulating units 2 and fixedly connected to the lower surface of the UAV body 1, and an eccentric weight ball 32 distributed at an equal angle inside each undulating unit 2 and adaptively adjusting the centrifugal distance according to the rising airflow to control the center of gravity of the UAV body 1; As a further implementation scheme of the present invention, the drone is equipped with a radar module and other necessary sensors, such as GPS, inertial measurement unit (IMU), etc., to carry out pre-flight preparations, including route planning, equipment inspection, etc. During the flight, the radar module starts to work and transmits microwave signals to the ground. When the microwave signals emitted by the radar module encounter the surface and internal structure of the glacier, reflection, scattering, etc. will occur. Part of the signal will be returned to the radar receiver of the drone. After receiving the returned signal, the radar receiver will record the signal strength, time delay, frequency change and other data. These data can reflect the surface morphology, internal structure, movement speed and other information of the glacier. The collected data needs to be processed, including denoising, correction, analysis and other steps to extract useful information. By analyzing the time delay and frequency change of the signal, the thickness and movement speed of the glacier can be calculated. Combined with the data collected by other sensors (such as temperature, humidity, wind speed, etc.) and historical climate data, the climate conditions of the glacier area can be analyzed. For example, by comparing the thickness and movement speed of glaciers at different time points, the melting rate of glaciers and climate change trends can be inferred. Ultimately, the processed and analyzed data will be output in the form of charts, reports, etc., providing scientists and research institutions with important information about glacier climate. The advantages of the radar module in detecting glacial climate include: 1. Strong penetration: Radar waves can penetrate obstacles such as clouds and dust, and can even partially penetrate the surface of glaciers to obtain internal structure information; 2. High precision: Radar measurement has high precision and can accurately reflect the slight changes in glaciers; 3. Real-time: UAV remote sensing devices can collect data in real time and quickly respond to changes in glacial climate; An eccentric distance adjustment component is provided between the lower end of the central support rod 3 and the eccentric weight ball 32, and an arc-shaped slide plate 4 which can be used for buffering when the drone body 1 lands by synchronous sliding is sleeved at an equal angle on the outer wall of the upper end of the central support rod 3, and a telescopic rod 5 is installed between the arc-shaped slide plate 4 and the undulating unit 2; The oil chamber of the sleeve of the telescopic rod 5 is divided into upper and lower parts by the T-shaped end of the piston rod, and the lower oil chamber of the sleeve of the telescopic rod 5 is connected to the lower oil chamber of the corresponding sleeve on the other side through a hose, and the upper oil chamber of the sleeve of the telescopic rod 5 is connected to a pressure compensation mechanism; The oiling chambers of the two sleeves are connected through a hose.

[0033] In a specific implementation, the vertical position of the eccentric weight ball 32 inside the undulating unit 2 is restricted by the positioning rod 31 and cannot be changed. Therefore, when the undulating unit 2 rises, the inclined surface on one side will generate a horizontal squeezing force on the eccentric weight ball 32, so that the eccentric weight ball 32 will slide horizontally along the outer wall of the positioning rod 31 gradually and compress the first spring 33. When the undulating unit 2 on one side rises, it will not push the two arc-shaped slide plates 4 to slide vertically upward along the outer wall of the central support rod 3, but only compress the telescopic rod 5 on the corresponding side. At the same time, when the telescopic rod 5 contracts, the oil inside the lower oil chamber of the telescopic rod 5 will be squeezed into the lower oil chamber of the telescopic rod 5 on the other side through the hose, so that the telescopic rod 5 on the other side gradually begins to extend outward.

[0034] As a further implementation scheme of the present invention, a base of a damper 21 is fixed in the arc-shaped groove on the upper surface of the undulation unit 2 , and a telescopic end of the damper 21 is fixedly connected to the lower surface of the drone body 1 .

[0035] In a specific implementation, a telescopic spring is arranged inside the damper 21, and the damper 21 cooperates with the telescopic spring to achieve a buffering effect.

[0036] As a further embodiment of the present invention, a cavity 22 is provided inside the undulating unit 2 , and an eccentric weighted ball 32 is slidably disposed inside the cavity 22 .

[0037] As a further embodiment of the present invention, the eccentric distance adjustment assembly includes a positioning rod 31, an eccentric weight ball 32, a first spring 33 and a stopper 34, and the positioning rod 31 is fixed at an equal angle to the lower end of the central support rod 3, and the end of the positioning rod 31 passes through the undulating unit 2 and is arranged inside the cavity 22, the eccentric weight ball 32 is slidably arranged on the outer wall of the positioning rod 31, and the outer wall of the positioning rod 31 away from the eccentric weight ball 32 is fixed with a stopper 34; A first spring 33 is wound around the outer wall of the positioning rod 31 , one end of the first spring 33 is welded to the side wall of the stopper 34 , and the other end of the first spring 33 is fixed to the outer wall of the eccentric weight ball 32 .

[0038] In a specific implementation, when the undulating unit 2 rises, the inclined surface on one side of the cavity 22 will generate a horizontal squeezing force on the eccentric weight ball 32, which will cause the eccentric weight ball 32 to slide horizontally along the outer wall of the positioning rod 31 and compress the first spring 33. At this time, the eccentric weight ball 32 in the undulating unit 2 gradually moves away from the center of gravity to initially balance the rightward deviation of the center of gravity of the drone body 1.

[0039] As a further embodiment of the present invention, a vertical groove 23 is provided on the inner wall of the cavity 22 away from the eccentric weight ball 32, which is slidably matched with the end of the positioning rod 31; The other side surface of the cavity 22 is gradually tilted from top to bottom, and the eccentric weight ball 32 is slidably fitted with the inclined side of the cavity 22; The inclined side of the cavity 22 is provided with a slot 24 through which the positioning rod 31 can move vertically.

[0040] In a specific implementation, the width of the cavity 22 just fits the diameter of the eccentric weight ball 32 , and the outer wall of the eccentric weight ball 32 will always fit the inclined side wall of the cavity 22 , so that the horizontal adjustment of the eccentric weight ball 32 can be achieved by adjusting the height of the cavity 22 .

[0041] As a further implementation scheme of the present invention, a cross groove 35 is formed through the upper end of the central support rod 3 , and a horizontal rod 41 and a vertical rod 42 are vertically staggeredly arranged in the internal space of the cross groove 35 .

[0042] In a specific implementation, the cross bar 41 and the longitudinal bar 42 can slide up and down synchronously in the cross groove 35, or slide individually in the cross groove 35, so as to achieve an effect of sliding synchronously or individually, and the cross bar 41 and the longitudinal bar 42 do not affect each other when sliding individually.

[0043] As a further embodiment of the present invention, the cross bar 41 and the longitudinal bar 42 are respectively fixedly connected to the two arc-shaped slide plates 4 that are opposite to each other, and the cross bar 41 and the longitudinal bar 42 are slidably connected to the cross groove 35 without affecting each other; The outer end of the arc-shaped slide plate 4 is hinged to the piston rod of the telescopic rod 5 , and the sleeve end of the telescopic rod 5 is hinged to the upper surface of the undulating unit 2 .

[0044] In a specific implementation, under the action of rising turbulence, the two undulating units 2 in corresponding positions are subjected to uneven lift, so the forces on both sides transmitted to the two arc-shaped slides 4 by the telescopic rods 5 on both sides are uneven. The two arc-shaped slides 4 fixedly connected and slidably mounted on the outer wall of the central support rod 3 are in a "stuck" state when the forces are uneven. Therefore, when the undulating unit 2 on one side rises, it will not push the two arc-shaped slides 4 to slide vertically upward along the outer wall of the central support rod 3.

[0045] As a further embodiment of the present invention, the pressure compensation mechanism includes a pressure compensation tank 6, a piston plate 61 and a second spring 62, and the pressure compensation tank 6 is fixed to the lower surface of the drone body 1, the piston plate 61 is sealingly and slidably provided inside the pressure compensation tank 6, and one end of the second spring 62 is fixed to the upper surface of the piston plate 61, and the other end of the second spring 62 is fixed to the inner wall of the pressure compensation tank 6; The pressure compensation tank 6 is divided into two upper and lower chambers by the piston plate 61, and the upper chamber is filled with natural air, and a natural exhaust port is opened on the side of the upper chamber; The interior of the lower chamber is filled with oil and is connected to the upper oil chamber of the sleeve chamber through a hose.

[0046] In a specific implementation, the pressure compensation mechanism is used to compensate for the difference in the amount of oil in the upper oil chamber caused by the different extension and contraction amounts of the left and right telescopic rods 5 . The excess or insufficient oil in the upper oil chamber of the telescopic rod 5 can be adaptively absorbed or supplemented by the pressure compensation tank 6 .

[0047] Working principle: When using this drone remote sensing device for detecting glacier climate change, first analyze Figure 1 , Figure 2 and Figure 3 The UAV remote sensing device is composed of a UAV body 1 and four undulating units 2 distributed at equal angles below, and the four undulating units 2 below are grouped in pairs. When affected by turbulence, the two groups of undulating units 2 cooperate to achieve the stability of the UAV body 1, as follows: When the medium-angle distributed undulation unit 2 of the present invention is not provided, the high-speed rising turbulence caused by the strong glacial wind will directly act on the bottom of the UAV body 1, and will act unevenly on the lower surface of the UAV body 1, causing the UAV body 1 to swing toward the side with smaller wind force during cruising. In addition, due to the existence of the rising airflow, the UAV body 1 cannot be set to a larger output power, otherwise it will not be able to ensure a stable cruising altitude. In the case of swing, it is not easy for the UAV body 1 to collect accurate and clear data (the UAV is equipped with various sensors, such as high-resolution cameras, thermal imaging cameras, laser radar (LiDAR), etc., to fly over the glacier area to collect data).

[0048] In the present invention, when the rising airflow below the drone body 1 is relatively chaotic, it is not difficult to know that the chaotic rising airflow will directly act on the four undulating units 2 distributed at equal angles below the drone body 1, and the four undulating units 2 are arranged with a wind-breaking outer contour. The outer contour of the wind-breaking arrangement can alleviate the chaotic rising airflow to a certain extent. When the rising airflow is chaotic and strong, the outer contour wind-breaking alone cannot satisfy the stability of the drone body 1. At this time, the undulating units 2 facing each other start to play a role; In a strong upward turbulence, two undulation units 2 facing each other will have a vertical drop. The following will distinguish the two corresponding undulation units 2 as "left side" and "right side" for ease of understanding, but it does not represent the actual left and right directions: 1. The upward thrust on the left undulation unit 2 is greater than that on the right undulation unit 2: like Figure 5As shown, when the upward thrust received by the left undulating unit 2 is greater than that received by the right undulating unit 2, that is, the lift received by the left side of the drone body 1 is greater than that received by the right side, the center of gravity of the fuselage will be shifted to the right, and at the same time, the left undulating unit 2 will rise first, while the vertical position of the eccentric counterweight ball 32 inside the left undulating unit 2 cannot be changed due to the limitation of the positioning rod 31. Therefore, when the left undulating unit 2 rises, the inclined surface on one side will generate a squeezing force in the horizontal direction on the eccentric counterweight ball 32, so that the eccentric counterweight ball 32 will slide horizontally gradually and far from the center along the outer wall of the positioning rod 31 and compress the first spring 33 (the center of the near center and far center mentioned in the whole text refers to the central axis of the central support rod 3). At this time, the eccentric counterweight ball 32 in the left undulating unit 2 gradually moves far from the center to preliminarily balance the situation that the center of gravity of the drone body 1 is shifted to the right. Then, if Figure 5 and Fig.10 As shown in the figure, when the left undulating unit 2 rises, due to the uneven lifting force on the undulating units 2 on both sides, the forces on both sides transmitted from the telescopic rods 5 on both sides to the two arc-shaped slide plates 4 are uneven. The two arc-shaped slide plates 4 fixedly connected and slidably sleeved on the outer wall of the central support rod 3 are in a "stuck" state when the forces are uneven. Therefore, when the left undulating unit 2 rises, it will not push the two arc-shaped slide plates 4 to slide vertically upward along the outer wall of the central support rod 3, but only compress the left telescopic rod 5. At the same time, when the telescopic rod 5 contracts, the oil in the lower oil chamber of the telescopic rod 5 will be squeezed into the lower oil chamber of the right telescopic rod 5 through the hose, so that the right telescopic rod 5 can be compressed. The retracted rod 5 gradually begins to extend outward. Similarly, the two arc-shaped slide plates 4 are not subjected to uniform force and will not slide upward along the outer wall of the central support rod 3. Therefore, the gradually extended right telescopic rod 5 can only press down the right undulating unit 2, so that the right undulating unit 2 and the left undulating unit 2 move vertically in opposite directions. Similarly, when the right undulating unit 2 falls, the eccentric weight ball 32 inside the right cavity 22 gradually slides horizontally along the outer wall of the positioning rod 31 under the reset push of the first spring 33 and the cooperation between the side walls of the cavity 22, so as to further balance the deviation of the center of gravity of the drone body 1 to the right. 2. The upward thrust of the left undulating unit 2 is smaller than that of the right undulating unit 2: Similarly, the eccentric weight ball 32 in the left undulation unit 2 gradually approaches the center of gravity to initially balance the situation that the center of gravity of the drone body 1 is shifted to the left, and the eccentric weight ball 32 in the right undulation unit 2 gradually moves away from the center of gravity to further balance the situation that the center of gravity of the drone body 1 is shifted to the left; 3. The upward thrust on the left undulation unit 2 is equal to the right undulation unit 2: When the upward thrust of the left undulation unit 2 is equal to that of the right undulation unit 2, it means that the upward airflow under the drone body 1 is relatively uniform. At this time, the upward airflow will be broken by the wind-breaking outer contour formed by the four undulation units 2 to weaken the influence of the upward airflow on the stability of the drone body 1. In addition, the four equiangularly distributed undulating units 2 of the present invention not only have the above-mentioned effect of adaptively adjusting the center of gravity of the drone body 1 to ensure the stability of the fuselage, but also have certain advantages in the landing protection direction of the drone body 1: 1. When the return mark position is higher on the left and lower on the right, the center of gravity of the fuselage will deviate to the right at the moment of landing, and it is easy to force the fuselage to tilt to the right under the reaction force: the legs of the left undulating unit 2 will touch the ground first to make the undulating unit 2 rise first. Similarly, the eccentric weight ball 32 in the left undulating unit 2 gradually moves away from the center to preliminarily balance the center of gravity of the drone body 1 shifting to the right, and the eccentric weight ball 32 in the left undulating unit 2 gradually moves toward the center to further balance the center of gravity of the drone body 1 shifting to the right; 2. When the return mark position is lower on the left and higher on the right, the center of gravity of the fuselage will deviate to the left at the moment of landing, and it is easy to force the fuselage to tilt to the left under the reaction force: Similarly, the eccentric weight ball 32 in the left undulation unit 2 gradually approaches the center to preliminarily balance the situation that the center of gravity of the drone body 1 deviates to the left, and the eccentric weight ball 32 in the right undulation unit 2 gradually moves away from the center to further balance the situation that the center of gravity of the drone body 1 deviates to the left; 3. When the return point is relatively horizontal: When the drone body 1 lands at the return point, the legs at the lower ends of the four undulating units 2 will touch the ground first and simultaneously and bear the weight of the entire fuselage. At this time, the drone body 1 will synchronously approach the four undulating units 2 under the action of falling inertia and impact force and adaptively compress the damper 21 set at equal angles between the drone body 1 and the undulating units 2. In addition, the four arc-shaped slides 4 mounted on the central support rod 3 will simultaneously rise along the outer wall of the central support rod 3 due to uniform force, so as to cushion the impact force of the drone body 1 when landing, thereby achieving a soft landing effect.

[0049] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle remote sensing device for detecting glacial climate change, comprising an unmanned aerial vehicle body (1) and a radar detection module carried on the unmanned aerial vehicle body (1), characterized in that: It also includes undulating units (2) suspended at equal angles below the drone body (1) and adaptively undulating according to the rising turbulence, a central support rod (3) arranged at the center of a plurality of groups of undulating units (2) and fixedly connected to the lower surface of the drone body (1), and eccentric weighted balls (32) distributed at equal angles inside each of the undulating units (2) and adaptively adjusting the centrifugal distance according to the rising airflow to control the center of gravity of the drone body (1); An eccentric distance adjustment component is provided between the lower end of the central support rod (3) and the eccentric weight ball (32), and an arc-shaped slide plate (4) which can be used to perform buffering when the drone body (1) lands by synchronous sliding is sleeved at an equal angle on the outer wall of the upper end of the central support rod (3), and a telescopic rod (5) is installed between the arc-shaped slide plate (4) and the undulating unit (2); The oil chamber of the sleeve of the telescopic rod (5) is divided into upper and lower parts by the T-shaped end of the piston rod, and the lower oil chamber of the sleeve of the telescopic rod (5) is connected to the lower oil chamber of the corresponding sleeve on the other side through a hose, and the upper oil chamber of the sleeve of the telescopic rod (5) is connected to a pressure compensation mechanism; The oiling chambers of the two sleeves are connected through a hose.

2. The UAV remote sensing device for detecting glacier climate change according to claim 1, characterized in that: The base of the damper (21) is fixed in the arc-shaped groove on the upper surface of the undulating unit (2), and the telescopic end of the damper (21) is fixedly connected to the lower surface of the drone body (1).

3. The UAV remote sensing device for detecting glacier climate change according to claim 1, characterized in that: A cavity (22) is provided inside the undulating unit (2), and an eccentric weighted ball (32) is slidably disposed inside the cavity (22).

4. The UAV remote sensing device for detecting glacier climate change according to claim 3, characterized in that: The eccentric distance adjustment assembly comprises a positioning rod (31), an eccentric weight ball (32), a first spring (33) and a stopper (34), wherein the positioning rod (31) is fixed at an equal angle to the lower end of the central support rod (3), and the end of the positioning rod (31) passes through the undulating unit (2) and is arranged inside the cavity (22), the eccentric weight ball (32) is slidably arranged on the outer wall of the positioning rod (31), and the stopper (34) is fixed to the outer wall of the positioning rod (31) at one end away from the eccentric weight ball (32); A first spring (33) is wound around the outer wall of the positioning rod (31), one end of the first spring (33) is welded to the side wall of the stopper (34), and the other end of the first spring (33) is fixed to the outer wall of the eccentric weight ball (32).

5. The UAV remote sensing device for detecting glacier climate change according to claim 4, characterized in that: A vertical groove (23) slidably matched with the end of the positioning rod (31) is formed on the inner wall of the cavity (22) on a side away from the eccentric weight ball (32); The other side surface of the cavity (22) is arranged to be gradually remotely inclined from top to bottom, and the eccentric weighted ball (32) is slidably fitted with the inclined side of the cavity (22); The inclined side of the cavity (22) is provided with a slot (24) through which the positioning rod (31) can move vertically.

6. The UAV remote sensing device for detecting glacier climate change according to claim 1, characterized in that: A cross slot (35) is provided through the interior of the upper end of the central support rod (3), and a cross rod (41) and a longitudinal rod (42) are vertically staggeredly arranged in the interior space of the cross slot (35).

7. The UAV remote sensing device for detecting glacier climate change according to claim 6, characterized in that: The cross bar (41) and the longitudinal bar (42) are respectively fixedly connected to the two arc-shaped slide plates (4) that are opposite to each other, and the cross bar (41) and the longitudinal bar (42) are slidably connected to the cross groove (35) without affecting each other.

8. The UAV remote sensing device for detecting glacier climate change according to claim 1, characterized in that: The outer end of the arc-shaped slide plate (4) is hinged to the piston rod of the telescopic rod (5), and the sleeve end of the telescopic rod (5) is hinged to the upper surface of the undulating unit (2).

9. The UAV remote sensing device for detecting glacier climate change according to claim 1, characterized in that: The pressure compensation mechanism comprises a pressure compensation tank (6), a piston plate (61) and a second spring (62), and the pressure compensation tank (6) is fixed to the lower surface of the drone body (1), the piston plate (61) is sealingly and slidably arranged inside the pressure compensation tank (6), and one end of the second spring (62) is fixed to the upper surface of the piston plate (61), and the other end of the second spring (62) is fixed to the inner wall of the pressure compensation tank (6); The pressure compensation tank (6) is divided into two upper and lower chambers by a piston plate (61), and the upper chamber is filled with natural air, and a natural exhaust port is provided on the side of the upper chamber; The interior of the lower chamber is filled with oil and is connected to the upper oil chamber of the sleeve chamber through a hose.

Images