Remote sensing monitoring device for ground subsidence deformation

Abstract

The invention belongs to the technical field of land subsidence monitoring, and particularly relates to a land subsidence deformation remote sensing monitoring device, which comprises an unmanned aerial vehicle body, the unmanned aerial vehicle body is provided with four uniformly distributed mounting grooves, support arms are arranged in the four mounting grooves, and the end parts of the support arms are connected with first mounting shells. A first motor is mounted in the first mounting shell, an output shaft of the first motor penetrates through the first mounting shell to be connected with a first blade, and a millimeter wave radar is mounted at the bottom of the unmanned aerial vehicle body; the two protection shells are automatically driven to be opened and closed through centrifugal force generated when the unmanned aerial vehicle body works, the protection shells are opened when the unmanned aerial vehicle works, and normal work of the millimeter wave radar is ensured; when the unmanned aerial vehicle is not used or accidents possibly occur in the flying process, the protection shell is automatically closed, the millimeter wave radar is effectively protected against collision damage, and the safety and reliability of the unmanned aerial vehicle are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of ground subsidence monitoring, and in particular relates to a ground subsidence deformation remote sensing monitoring device. Background Art

[0002] The traditional ground subsidence monitoring system detects the state of soil subsidence through multiple sensors buried deep below the ground. The signals are summarized at the terminal and the subsidence information is output. The disadvantage is that after the sensor fails, it needs to be removed and replaced, which is troublesome to repair. Sometimes it even requires the destruction of the hard paving materials on the ground, which is not only troublesome, but also requires the restoration of the ground, which is also costly.

[0003] In recent years, with the development of drone technology, a system that uses drones to monitor ground subsidence has emerged. By setting a passive reflector on the ground in the monitoring area and a millimeter-wave radar on the drone, the height of the drone relative to the monitoring area is determined. By comparing the flight altitude of the drone relative to the reference point and the height of the drone relative to the monitoring area, it can be concluded whether subsidence has occurred in the monitoring area. Since drones may fall due to various uncontrollable factors during operation, and millimeter-wave radars as important components will inevitably be damaged at this time, effective protection measures are needed for the millimeter-wave radars to avoid damage to the camera when the drone falls due to external uncontrollable factors. Summary of the invention

[0004] The purpose of the present invention is to provide a ground subsidence deformation remote sensing monitoring device to solve the problems raised in the background technology.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is as follows:

[0006] A ground subsidence deformation remote sensing monitoring device comprises a drone body, the drone body is provided with four evenly distributed mounting slots, each of the four mounting slots is provided with a support arm, the end of the support arm is connected to a first mounting shell, a first motor is installed in the first mounting shell, an output shaft of the first motor passes through the first mounting shell and is connected to a first blade, and a millimeter wave radar is installed at the bottom of the drone body;

[0007] A fixed shell is fixed at the bottom of the drone body, gears are rotatably installed on the left and right sides of the fixed shell, two gears are connected with connecting rods, two connecting rods are fixed with protective shells, the two protective shells are closed to each other, the millimeter wave radar is located in the two protective shells, a rack is slidably provided between the two gears in the fixed shell, the rack is meshed with the two gears, a first spring is provided between the lower side of the rack and the bottom of the fixed shell, and the rack is provided with a pushing component.

[0008] The pushing assembly includes an annular shell connected to the output shaft of the first motor, a sliding rod is slidably provided in the annular shell, a second spring is provided between the side of the sliding rod away from the middle of the first motor and the side wall of the annular shell, a pushing block is connected to the end of the sliding rod, an annular cavity is provided on the side wall of the first mounting shell, a movable ring is provided in the annular cavity for sealing and sliding, an annular cone matching the pushing block is connected to the upper end of the movable ring, a first cavity is provided on the support arm, the first cavity is communicated with the annular cavity, a second cavity is provided in the middle of the drone body, a first piston rod is provided in the second cavity for sealing and sliding, the first piston rod is connected to the rack, and the first cavity and the second cavity are communicated through a hose.

[0009] A bracket is fixed at the bottom of the drone body.

[0010] The support arm is slidably arranged in the mounting groove, a third spring is arranged between the support arm and the bottom wall of the mounting groove, a fixing component is arranged between the support arm and the mounting groove, a circular groove connected with the mounting groove is arranged on the upper side of the drone body, a circular seat is rotatably installed in the circular groove, a driving motor for driving the circular seat to rotate is arranged in the drone body, the circular seat is arranged with a transverse groove, a slide rail is slidably arranged in the transverse groove, a fourth spring is arranged between the slide rail and the transverse groove, the end of the slide rail abuts against the side wall of the circular groove, the lower side of the end of the slide rail is processed with an inclined surface, the upper end of the support arm is processed with a slide groove matching the slide rail, a second mounting shell is fixed on the upper side of the end of the slide rail, a second motor is arranged in the second mounting shell, and the output shaft of the second motor passes through the second mounting shell and is connected with a second blade.

[0011] The fixing assembly includes an installation cavity provided in the support arm, a second piston rod is sealed and slidably provided in the first cavity, the end of the second piston rod extends into the installation cavity and is connected to a slide bar, a fifth spring is directly provided between the second piston rod and the side wall of the first cavity, an articulated rod is hinged on one side of the slide bar, a locking block is slidably provided in the installation cavity, the end of the articulated rod is hinged to the locking block, and a locking groove matching the locking block is provided on the side wall of the installation groove.

[0012] A rubber sheet is arranged on the side wall of the upper end of the circular seat.

[0013] The present invention automatically drives the opening and closing of the two protective shells through the centrifugal force generated when the drone body is working. When the drone is working, the protective shells are opened to ensure the normal operation of the millimeter-wave radar; when the drone is not in use or when an accident may occur during flight, the protective shells are automatically closed to effectively protect the millimeter-wave radar from collision damage, thereby improving the safety and reliability of the drone.

[0014] When a motor of the UAV fails, the system of the present invention can automatically detect and cancel the fixation of the faulty support arm, and start the backup motor system at the same time. Through the rotation of the circular seat and the guidance of the slide rail, the backup motor (and its mounting shell and second blade) can quickly and accurately replace the faulty motor, thereby maintaining the balance and stable flight of the UAV and avoiding the overall risk of falling due to the failure of a single motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention is further illustrated by means of the non-limiting examples given in the accompanying drawings.

[0016] Figure 1 It is a structural schematic diagram of an embodiment of a ground subsidence deformation remote sensing monitoring device of the present invention;

[0017] Figure 2 The cross-sectional structure of a ground subsidence deformation remote sensing monitoring device according to the present invention is shown in FIG. Figure 1 ;

[0018] Figure 3 for Figure 2 A schematic diagram of the structure enlargement at the center A;

[0019] Figure 4 The cross-sectional structure of a ground subsidence deformation remote sensing monitoring device according to the present invention is shown in FIG. Figure 2 ;

[0020] Figure 5 for Figure 4 A schematic diagram of the structure enlarged at B in the middle;

[0021] Figure 6 The cross-sectional structure of a ground subsidence deformation remote sensing monitoring device according to the present invention is shown in FIG. Figure 3 ;

[0022] Figure 7 The cross-sectional structure of a ground subsidence deformation remote sensing monitoring device according to the present invention is shown in FIG. Figure 4 ;

[0023] Figure 8 for Figure 7 Enlarged schematic diagram of the structure at C in the middle.

[0024] The main component symbols are described as follows:

[0025] UAV body 1, bracket 101, mounting groove 11, support arm 12, slide groove 121, first mounting shell 13, first motor 14, first blade 15, millimeter wave radar 16, fixed shell 2, gear 21, connecting rod 22, protective shell 23, rack 24, first spring 25, annular shell 3, slide rod 31, second spring 32, push block 33, annular cavity 34, movable ring 35, annular frustum 36, first cavity 4, second cavity 41, first piston rod 42, third spring 43, mounting cavity 44, second piston rod 45, fifth spring 451, slide bar 46, hinged rod 461, lock block 462, lock groove 463, circular groove 5, circular seat 51, rubber sheet 511, transverse groove 52, slide rail 53, fourth spring 54, second mounting shell 55, second blade 56. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0027] like Figure 1-8 As shown, a ground subsidence deformation remote sensing monitoring device of the present invention comprises a drone body 1, the drone body 1 is provided with four evenly distributed mounting grooves 11, each of the four mounting grooves 11 is provided with a support arm 12, the end of the support arm 12 is connected to a first mounting shell 13, a first motor 14 is installed in the first mounting shell 13, the output shaft of the first motor 14 passes through the first mounting shell 13 and is connected to a first blade 15, and a millimeter wave radar 16 is installed at the bottom of the drone body 1;

[0028] A fixed shell 2 is fixed at the bottom of the drone body 1, and gears 21 are rotatably installed on both the left and right sides of the fixed shell 2. The two gears 21 are connected to connecting rods 22, and the two connecting rods 22 are fixed with protective shells 23. The two protective shells 23 are closed to each other, and the millimeter wave radar 16 is located in the two protective shells 23. A rack 24 located between the two gears 21 is slidably provided in the fixed shell 2, and the rack 24 is meshed with the two gears 21. A first spring 25 is provided between the lower side of the rack 24 and the bottom of the fixed shell 2, and the rack 24 is provided with a pushing component;

[0029] The pushing assembly includes an annular shell 3 connected to the output shaft of the first motor 14, a sliding rod 31 is slidably provided in the annular shell 3, a second spring 32 is provided between the sliding rod 31 and the side wall of the annular shell 3 on the side away from the middle of the first motor 14, a pushing block 33 is connected to the end of the sliding rod 31, an annular cavity 34 is provided on the side wall of the first mounting shell 13, a movable ring 35 is sealed and slidably provided in the annular cavity 34, and an annular cone 36 matching the pushing block 33 is connected to the upper end of the movable ring 35, a first cavity 4 is provided on the support arm 12, and the first cavity 4 is connected to the annular cavity 34, a second cavity 41 is provided in the middle of the drone body 1, a first piston rod 42 is sealed and slidably provided in the second cavity 41, the first piston rod 42 is connected to the rack 24, and the first cavity 4 and the second cavity 41 are connected through a hose.

[0030] The first cavity 4 and the second cavity 41 are both filled with hydraulic oil;

[0031] In the initial state, the elastic force of the first spring 25 pushes the rack 24 to be located on the upper side of the fixed shell 2. At this time, the first piston rod 42 is located on the upper side of the second cavity 41. The two protective shells 23 are closed to each other to protect the millimeter wave radar 16. The movable ring 35 is located on the upper side of the annular cavity 34. The annular cone 36 connected to it is in contact with the push block 33. The slide bar 31 in the annular shell 3 is close to the output shaft of the first motor 14 under the elastic force of the second spring 32.

[0032] When the drone body 1 is working, the first motors 14 in the four first mounting shells 13 are started to drive the first blades 15 to rotate at high speed. When the annular shell 3 rotates at high speed, the centrifugal force generated by it will overcome the elastic force of the second spring 32, and push the slide bar 31 to move away from the center of the first motor 14. Then the push block 33 abuts against the inclined surface of the annular cone 36, pushing the annular cone 36 to move downward, driving the movable ring 35 to move downward in the annular cavity 34, pushing the hydraulic oil in the annular cavity 34 into the first cavity 4, and entering the second cavity 41 through the hose, pushing the first piston rod 42 to move downward, and then the rack 24 moves downward, and through the engagement with the two gears 21, it will drive the two protective shells 23 away from each other. After the two protective shells 23 are opened, the millimeter wave radar 16 is exposed, and no obstruction is caused to the millimeter wave radar 16;

[0033] When the drone body 1 stops working, the output shaft of the first motor 14 stops rotating, and the elastic force of the second spring 32 can automatically push the slide bar 31 to reset. Similarly, the elastic force of the first spring 24 will push the rack 24 to reset, so that the two protective shells 23 are closed to each other.

[0034] Such a design utilizes the centrifugal force generated when the drone body 1 is working to automatically drive the opening and closing of the two protective shells. When it is working, the protective shell 23 will not block the millimeter-wave radar 16. When it is not in use, the millimeter-wave radar 16 can be protected by the two protective shells 23. In this way, when an accident occurs during the flight of the drone body 1, the two protective shells 23 can be automatically driven to protect the millimeter-wave radar 16, thereby reducing the possibility of the millimeter-wave radar 16 being damaged by collision.

[0035] A bracket 101 is fixed to the bottom of the drone body 1 ; the bracket 101 is used to support the drone body 1 .

[0036] The support arm 12 is slidably arranged in the mounting groove 11, a third spring 43 is arranged between the support arm 12 and the bottom wall of the mounting groove 11, a fixing component is arranged between the support arm 12 and the mounting groove 11, a circular groove 5 connected to the mounting groove 11 is arranged on the upper side of the drone body 1, a circular seat 51 is rotatably installed in the circular groove 5, a driving motor for driving the circular seat 51 to rotate is arranged in the drone body 1, a transverse groove 52 is arranged on the circular seat 51, a slide rail 53 is slidably arranged in the transverse groove 52, a fourth spring 54 is arranged between the slide rail 53 and the transverse groove 52, an end of the slide rail 53 abuts against the side wall of the circular groove 5, an inclined surface is processed on the lower side of the end of the slide rail 53, a slide groove 121 matching the slide rail 53 is processed on the upper end of the support arm 12, a second mounting shell 55 is fixed on the upper side of the end of the slide rail 53, a second motor is arranged in the second mounting shell 55, and the output shaft of the second motor passes through the second mounting shell 55 and is connected to a second blade 56;

[0037] The fixing assembly includes an installation cavity 44 provided in the support arm 12, a second piston rod 45 is sealed and slidably provided in the first cavity 4, the end of the second piston rod 45 extends into the installation cavity 44 and is connected with a slide bar 46, a fifth spring 451 is directly provided between the second piston rod 45 and the side wall of the first cavity 4, a hinged rod 461 is hinged on one side of the slide bar 46, a locking block 462 is slidably provided in the installation cavity 44, the end of the hinged rod 461 is hinged to the locking block 462, and a locking groove 463 matching the locking block 462 is provided on the side wall of the installation groove 11.

[0038] The slide rail 53 and the four arms 12 are in the same horizontal plane;

[0039] The support arm 12 is located on the upper side of the installation groove 11 under the elastic force of the third spring 43. When the drone body 1 is working, the hydraulic oil in the annular cavity 34 enters the first cavity 4, and the second piston rod 45 pushed into the first cavity 4 overcomes the elastic force of the fifth spring 451 to move. The second piston rod 45 drives the slide bar 46 to slide in the installation cavity 44, and pushes the lock block 462 into the lock groove 463 through the hinge rod 461, thereby fixing the position of the support arm 12 so that the positions of the four support arms 12 are at the same level.

[0040] When the drone body 1 is working, if the first motor 14 corresponding to one of the arms 12 fails, the corresponding first blade 15 will no longer rotate, and the second piston rod 45 will reset under the elastic force of the fifth spring 451, driving the lock block 462 to exit the lock slot 463, thereby canceling the fixation of the arm 12, and at the same time sending the fault signal of the first motor 14 to the controller in the drone body 1, and the controller controls the driving motor to drive the circular seat 51 to rotate, and rotates the slide rail 53 to the corresponding installation slot 11, and the slide rail 53 will be aligned with the slide slot 121 at the upper end of the arm 12. Since the arm 12 can slide relative to the installation slot 11, and the end of the slide rail 53 is processed with an inclined surface, The fourth spring 54 pushes the slide rail 53 out of the transverse groove 52 under the elastic force of the fourth spring 54, and the slide rail 53 pushes the support arm 12 to overcome the elastic force of the third spring 43 and move downward through the inclined guide, and the slide rail 53 enters the slide groove 121 on the upper side of the support arm 12, so that the slide rail 53 pushes the second mounting shell 55 to the top of the first mounting shell 13, and the second motor in the second mounting shell 55 drives the second blade 56 to rotate, replacing the original first blade 15. In this way, when one of the first motors 14 fails, the spare second motor can be promptly transported to the failed first motor 14 as a whole, so as to avoid the situation that the drone body 1 cannot maintain balance and falls after one of the first motors is damaged;

[0041] The support arm 12 without any problem is fixed to the mounting groove 11 by a fixing assembly, so that during the rotation of the circular seat 51, the slide rail 53 cannot push the support arm 12 to move downward after being aligned with the support arm 12, thereby ensuring that the slide rail 53 only moves to the faulty support arm 12.

[0042] A rubber sheet 511 is provided on the side wall of the upper end of the circular seat 51 ; the rubber sheet 511 is used to shield the circular groove 5 to prevent impurities from entering the circular groove 5 , and the rubber sheet 511 can be deformed to meet the movement of the second mounting shell 55 .

[0043] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A ground subsidence deformation remote sensing monitoring device, comprising an unmanned aerial vehicle body, characterized in that: The drone body is provided with four evenly distributed mounting slots, each of the four mounting slots is provided with a support arm, the end of the support arm is connected to a first mounting shell, a first motor is installed in the first mounting shell, an output shaft of the first motor passes through the first mounting shell and is connected to a first blade, and a millimeter wave radar is installed at the bottom of the drone body; A fixed shell is fixed at the bottom of the drone body, gears are rotatably installed on the left and right sides of the fixed shell, two gears are connected with connecting rods, two connecting rods are fixed with protective shells, the two protective shells are closed to each other, the millimeter wave radar is located in the two protective shells, a rack is slidably provided between the two gears in the fixed shell, the rack is meshed with the two gears, a first spring is provided between the lower side of the rack and the bottom of the fixed shell, and the rack is provided with a pushing component.

2. A ground subsidence deformation remote sensing monitoring device according to claim 1, characterized in that: The pushing assembly includes an annular shell connected to the output shaft of the first motor, a sliding rod is slidably provided in the annular shell, a second spring is provided between the side of the sliding rod away from the middle of the first motor and the side wall of the annular shell, a pushing block is connected to the end of the sliding rod, an annular cavity is provided on the side wall of the first mounting shell, a movable ring is provided in the annular cavity for sealing and sliding, an annular cone matching the pushing block is connected to the upper end of the movable ring, a first cavity is provided on the support arm, the first cavity is communicated with the annular cavity, a second cavity is provided in the middle of the drone body, a first piston rod is provided in the second cavity for sealing and sliding, the first piston rod is connected to the rack, and the first cavity and the second cavity are communicated through a hose.

3. A ground subsidence deformation remote sensing monitoring device according to claim 1, characterized in that: A bracket is fixed at the bottom of the drone body.

4. A ground subsidence deformation remote sensing monitoring device according to claim 2, characterized in that: The support arm is slidably arranged in the mounting groove, a third spring is arranged between the support arm and the bottom wall of the mounting groove, a fixing component is arranged between the support arm and the mounting groove, a circular groove connected with the mounting groove is arranged on the upper side of the drone body, a circular seat is rotatably installed in the circular groove, a driving motor for driving the circular seat to rotate is arranged in the drone body, the circular seat is arranged with a transverse groove, a slide rail is slidably arranged in the transverse groove, a fourth spring is arranged between the slide rail and the transverse groove, the end of the slide rail abuts against the side wall of the circular groove, the lower side of the end of the slide rail is processed with an inclined surface, the upper end of the support arm is processed with a slide groove matching the slide rail, a second mounting shell is fixed on the upper side of the end of the slide rail, a second motor is arranged in the second mounting shell, and the output shaft of the second motor passes through the second mounting shell and is connected with a second blade.

5. A ground subsidence deformation remote sensing monitoring device according to claim 4, characterized in that: The fixing assembly includes an installation cavity provided in the support arm, a second piston rod is sealed and slidably provided in the first cavity, the end of the second piston rod extends into the installation cavity and is connected to a slide bar, a fifth spring is directly provided between the second piston rod and the side wall of the first cavity, an articulated rod is hinged on one side of the slide bar, a locking block is slidably provided in the installation cavity, the end of the articulated rod is hinged to the locking block, and a locking groove matching the locking block is provided on the side wall of the installation groove.

6. A ground subsidence deformation remote sensing monitoring device according to claim 4, characterized in that: A rubber sheet is arranged on the side wall of the upper end of the circular seat.

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