Soil slope attitude and moisture content detection device and method based on unmanned aerial vehicle launching

Abstract

The invention provides a soil slope attitude and moisture content detection device and method based on unmanned aerial vehicle putting, and relates to the related technical field of soil slope characteristic parameter intelligent detection, and the soil slope attitude and moisture content detection device comprises a plurality of soil body characteristic parameter detectors, the device sequentially comprises a solar power supply unit, an empennage, a slope attitude detection unit, a balancing weight, a moisture content detection unit and a probe from top to bottom, after the unmanned aerial vehicle flies to a designated position, the soil body characteristic parameter detectors are put at high altitude in batches, so that the soil body characteristic parameter detectors fall down in a free falling body mode, and the unmanned aerial vehicle is inserted into a slope soil body to be detected through a probe; the slope attitude and the moisture content are detected through soil body characteristic parameter detectors at different positions, soil body characteristic parameters at different positions are obtained, and a soil body characteristic parameter point cloud picture is formed. According to the invention, characteristic parameters such as all-around soil posture and moisture content of the soil slope in complex environments such as large fall and high slope toe can be rapidly and efficiently detected.

Description

Technical Field

[0001] The present disclosure relates to the technical field related to intelligent detection of soil slope characteristic parameters, and in particular to a soil slope posture and moisture content detection device and method based on unmanned aerial vehicle delivery. Background Art

[0002] Under the background of global warming, extreme rainfall occurs frequently, resulting in the continuous increase in the frequency of soil slope disasters. Scholars have found that gyroscopes and capacitance methods are effective means to monitor soil deformation characteristics and detect soil moisture content. However, due to the steep slope and large drop of soil slopes in mountainous areas, it brings severe challenges to the detection of soil slope deformation characteristics and soil moisture content in mountainous areas.

[0003] Chinese patent 201710569139.1 discloses a wireless detection device for real-time detection of soil moisture content, which can detect and wirelessly transmit the soil moisture content value in real time, but the device needs to be buried in the soil in advance and cannot be directly applied to the intelligent detection of soil slopes in mountainous areas.

[0004] Chinese Patent 202120169010.3 discloses a high slope detection disaster warning device, which can realize slope soil moisture detection and slope displacement monitoring, and prompt surrounding personnel in real time through indicator lights. However, the method of using metal balls and induction plates to characterize high slope displacement has low accuracy and is easily affected by other environmental factors, resulting in false information.

[0005] Therefore, in order to solve the problem of difficulty in monitoring and detecting the slope posture and moisture content characteristics caused by the steep slope and large drop of soil slopes in mountainous areas, the existing technology lacks accuracy, stability, efficiency and convenience, and cannot achieve rapid intelligent detection and information transmission of soil slope deformation characteristics and moisture content detection in complex environments. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes a soil slope posture and moisture content detection device and method based on drone delivery, which can quickly and efficiently detect the soil posture, moisture content and other characteristic parameters of soil slopes in complex environments such as large drop and high slope foot.

[0007] According to some embodiments, the present disclosure adopts the following technical solutions:

[0008] The soil slope posture and moisture content detection device based on drone delivery includes several soil characteristic parameter detectors:

[0009] The soil characteristic parameter detector includes, from top to bottom, a tail wing, a slope attitude detection unit, a counterweight, a moisture content detection unit, and a probe;

[0010] After the UAV flies to the designated location, the soil characteristic parameter detectors carried by the UAV are dropped in batches from high altitude, so that they fall in a free fall manner and are inserted into the slope soil to be detected through probes; the slope posture and water content are detected through the soil characteristic parameter detectors at different positions, and the soil characteristic parameters at different positions are obtained to form a soil characteristic parameter point cloud map.

[0011] According to some embodiments, the present disclosure adopts the following technical solutions:

[0012] The soil slope posture and moisture content detection method based on drone delivery is to use the soil slope posture and moisture content detection device based on drone delivery to perform soil slope posture and moisture content detection. The specific steps are as follows:

[0013] Control a drone carrying several soil characteristic parameter detectors to fly to the slope soil to be detected, adjust the altitude of the drone, and place the soil characteristic parameter detectors in batches;

[0014] Through soil characteristic parameter detectors at different locations, slope posture and water content are detected to obtain soil characteristic parameters at different locations;

[0015] The soil characteristic parameters at different locations are used to construct a point cloud map of soil characteristic parameters.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention provides a soil slope posture and moisture content detection device and method based on drone delivery. The device is carried by a drone and dropped at a fixed point to complete the rapid detection of soil slope posture perception and characteristic parameters such as moisture content in complex environments such as large drop and high slope foot. While reducing manpower and material resources, work efficiency is improved, and all-round detection of characteristic parameters of soil slopes in mountainous areas is achieved. An all-round cloud map of the characteristic parameters of the slope is constructed, and the stability and deformation characteristics of the slope structure are monitored in real time. The intelligent upgrade of soil slope characteristic parameter monitoring and detection is promoted, and better services are provided for the research on the development of soil slope diseases in mountainous areas.

[0018] The soil characteristic parameter detector designed in the present invention integrates a gyroscope, an accelerometer, and a moisture content detection device, and can sense the posture of soil slopes in mountainous areas and monitor the moisture content for a long time, thereby realizing rapid and efficient detection of soil characteristic parameters. That is, a single device is used to realize multiple functions, and multi-source data is collected simultaneously, thereby improving equipment working efficiency and reducing energy loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0020] Figure 1 This is the overall structural diagram of the soil slope posture and moisture content detection device in Example 1.

[0021] Figure 2 This is a structural diagram of the drone intelligent delivery module in Example 1.

[0022] Figure 3 This is a structural diagram of the soil characteristic parameter detector in Example 1.

[0023] Figure 4 This is a schematic diagram of data transmission in Example 1.

[0024] In the figure, 11, UAV intelligent delivery module; 21, soil characteristic parameter detection module; 31, signal processing and wireless transmission module; 12, UAV; 13, grabber; 14, soil characteristic parameter detector; 22, solar panel; 23, tail wing; 24, slope posture detection unit; 25, counterweight; 26, moisture content detection unit; 27, probe; 32, cloud server; 33, client (computer). DETAILED DESCRIPTION

[0025] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0027] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0028] Example 1

[0029] Figure 1 This is the overall structure diagram of the soil slope posture and moisture content detection device, such as Figure 1 As shown, the detection device is divided into a UAV intelligent delivery module 11, a soil characteristic parameter detection module 21, and a signal processing and wireless transmission module 31. The three modules are independent of each other, but there is a certain connection between the three modules, so as to realize the rapid detection of characteristic parameters such as soil posture and moisture content of soil slopes in complex environments such as large drop and high slope foot. The three modules are described below:

[0030] 1. UAV intelligent delivery module 11

[0031] like Figure 2 As shown, the drone intelligent delivery module 11 includes a drone 12 and a grabber 13.

[0032] The drone 12 can achieve fixed-point hovering, and through programming or pilot operation, the drone 12 carrying a batch of soil characteristic parameter detectors 14 can arrive at a designated location.

[0033] The grabber 13 is an n×n carrying tray. Figure 2 Where n=3, the soil characteristic parameter detectors 14 carrying an array structure can complete the batch deployment of soil characteristic parameter detectors 14 at different positions at one time.

[0034] According to the actual situation of the slope, the drone 12 is controlled by the automatic cruise system or the pilot to reach the designated position, the flight altitude of the drone 12 is adjusted, and the switches of the No. 1-9 carrying plates of the grabber 13 are turned on in sequence, and one or part of the soil characteristic parameter detectors 14 fall in the form of free fall and are inserted into the soil. At the same time, the flight altitude of the drone 12 can be adjusted according to the topographical characteristics of the soil slope in the mountainous area to improve the success rate of the placement of the soil characteristic parameter detectors 14.

[0035] 2. Soil characteristic parameter detection module 21

[0036] The soil characteristic parameter detection module 21 includes a plurality of soil characteristic parameter detectors 14, such as Figure 3 As shown, the soil characteristic parameter detector 14 includes a solar power supply unit 22 , a tail wing 23 , a slope posture detection unit 24 , a counterweight block 25 , a moisture content detection unit 26 , and a probe 27 .

[0037] The solar power supply unit 22 absorbs solar energy through solar panels and converts it into electrical energy to provide energy for the entire soil characteristic parameter detector, ensuring the power demand during slope posture detection, moisture content detection, signal processing and wireless transmission, improving the working sustainability of the monitoring device and reducing equipment costs.

[0038] The tail 23 ensures the stability of the soil characteristic parameter detection system during descent and reduces the deviation caused by air resistance.

[0039] The slope attitude detection unit 24 includes a gyroscope and an accelerometer. The gyroscope measures the rotational angular velocity and angular acceleration to capture attitude change data such as the rotation frequency and direction of the soil. The accelerometer measures the horizontal acceleration component of the soil generated by the inertial effect caused by the deformation of the soil, and finally obtains attitude information including the angular velocity, angular acceleration, horizontal velocity, and horizontal acceleration of the soil.

[0040] The counterweight 25 increases the deadweight of the entire detection system and reduces the influence of wind and other air resistance on the falling accuracy of the equipment.

[0041] The probe 27 is composed of a stainless steel needle. It closely contacts the soil to detect the internal capacitance signal of the soil and transmits it to the moisture content detection unit, effectively reducing the influence of external interference on the measurement signal. At the same time, the probe structure is inserted into the slope soil to be detected as the soil characteristic parameter detector falls, so as to fix the entire soil characteristic parameter detector.

[0042] The moisture content detection unit 26 includes a capacitive sensor; the capacitive sensor is composed of two conductive films and an insulating layer in the middle, and calculates the moisture content of the soil based on the capacitive signal collected by the probe; and measures the soil moisture content by analyzing the changes in the physical properties of the insulating layer caused by the ambient humidity.

[0043] 3. Signal processing and wireless transmission module 31

[0044] The signal processing and wireless transmission module includes a signal processing unit and a wireless transmission unit.

[0045] The signal processing unit includes data filtering, data fusion, and data encoding; the data filtering uses digital filters such as low-pass filtering and band-pass filtering to remove noise and retain useful information; the data fusion combines the signal characteristics of multi-source data to eliminate mutual interference; the data encoding compresses or encodes the processed data to reduce the amount of transmitted data.

[0046] The wireless transmission unit includes a signal transmitting end, a signal receiving end, and a signal processing end. The signal transmitting end realizes the encoding, amplification, filtering and transmission of data signals through a wireless transmission module, a radio frequency (RF) circuit, an antenna, etc.; the signal receiving end uses a radio frequency modulation decoder and a digital signal processor to complete the capture and adjustment of radio wave signals, and converts the signals into a format suitable for upper-layer applications; the signal processing end includes error correction coding, compression coding and protocol processing, and ensures data integrity and efficient transmission through further processing of the received signal, and selects a suitable communication protocol, such as Wi-Fi, Bluetooth, etc., to format and package the data frames to ensure that the signal can be correctly transmitted to the target device.

[0047] In the signal processing and wireless transmission module 31, as Figure 4As shown, the signal processing unit performs data filtering, data fusion, and data encoding on the soil characteristic parameters detected by the soil characteristic parameter detector 14, and uses the wireless transmission unit to transmit the processed data to the cloud server 32. The data can be downloaded and analyzed later according to actual needs, and the results can be saved in the client (computer) 33; wireless data is used to reduce costs, improve the adaptability of equipment, and eliminate the limitations brought by wired data transmission.

[0048] Example 2

[0049] In one embodiment of the present disclosure, a method for detecting soil slope posture and moisture content based on drone delivery is provided. The soil slope posture and moisture content detection device based on drone delivery is used to perform soil slope posture and moisture content detection. The specific steps are as follows:

[0050] Step S1: Control the drone 12 carrying a plurality of soil characteristic parameter detectors 14 to fly to the slope soil to be detected, adjust the altitude of the drone, and deploy the soil characteristic parameter detectors 14 in batches.

[0051] Among them, when the slope is steep or the drop is high, the drone needs to increase its flight altitude appropriately to ensure that the soil characteristic parameter detector can accurately fall and be inserted into the slope soil in a free fall manner; through discrete placement position control, combined with drone hovering technology, the detector can form evenly distributed point cloud data on the slope surface, covering complex areas such as large drops and high slope toes, meeting the spatial coverage requirements in a statistical sense and improving the accuracy of the data.

[0052] Through automatic cruising or pilot control, the fixed-point hovering of the UAV 12 is achieved, the grabber 13 is adjusted, and the high-altitude release of the soil characteristic parameter detector 14 is controlled; the grabber 13 is a 3×3 carrying plate, which can complete the batch release of soil characteristic parameter detectors 14 at different positions at one time; at the same time, the flight altitude of the UAV can be adjusted according to the topographical characteristics of the soil slope in the mountainous area to improve the release success rate of the soil characteristic parameter detector 14.

[0053] Step S2: The soil characteristic parameter detectors 14 at different positions are used to detect the slope posture and water content to obtain the soil characteristic parameters at different positions.

[0054] The soil characteristic parameter detector 14 includes a slope attitude detection unit 24 and a moisture content detection unit 26. The slope attitude detection unit 24 integrates a gyroscope and an accelerometer, is powered by solar energy, and uses embedded programming to realize intelligent perception of the angular velocity, angular acceleration and horizontal velocity and horizontal acceleration of the soil. The moisture content detection unit 26 uses the drone 12 to drop the soil characteristic parameter detector 14 from the air into the soil slope in the mountain area, uses the probe 27 inserted into the soil to detect the internal capacitance signal value of the soil, and uses experience or theoretical formulas to calculate the moisture content of the soil.

[0055] The reliability of the data is improved by filtering, denoising, compressing and fusing the soil posture data and moisture content data, and wireless transmission is used to realize the automatic transmission of data from the detection device to the server.

[0056] Step S3: Using soil characteristic parameters at different locations, construct a point cloud map of soil characteristic parameters.

[0057] To provide a concrete example:

[0058] Step 1: Install the soil characteristic parameter detector 14 to the grabber 13 of the drone 12;

[0059] Step 2: Set the drone cruise program, input the designated altitude and designated location; or manually control the position and altitude of the drone 12 through manual operation by the drone pilot;

[0060] Step 3: When the drone 12 reaches the designated position and the designated height, the switch of the grabber 13 is turned on, so that the soil characteristic parameter detector 14 is inserted into the slope soil in a free fall form;

[0061] Step 4: Turn on the switch of the soil characteristic parameter detector 14, connect the solar power supply unit 22, and set the timing detection and wireless transmission program;

[0062] Step 5: changing the position of the drone 12, placing soil characteristic parameter detectors 14 in batches at different positions, and repeating steps 2 to 4;

[0063] Step 6: Construct a point cloud map of soil slopes in the mountainous area on the cloud server 32 .

[0064] In this implementation case, after the entire soil characteristic parameter detector 14 is thrown into the soil, the entire detector can carry out moisture content detection at regular intervals, and the posture perception system is in a dormant state for a long time. Only when the slope has a large displacement, that is, when the posture data fluctuates greatly, the posture perception system of the system wakes up and transmits the data to the cloud. The judgment of posture data fluctuation mainly relies on two means. One is dynamic baseline comparison. The cloud server establishes a dynamic baseline with the acquired real-time data. By calculating the mean and standard deviation of the data in each sliding window, if the current data deviates from the baseline by more than 2 times the standard deviation, it is marked as abnormal fluctuation. According to the outlier detection (3σ principle) in statistics, combined with time series analysis, it dynamically adapts to environmental changes and reduces misjudgment; the second is the pattern recognition algorithm, which uses the autoencoder for unsupervised learning and learns the characteristics of normal data by reconstructing the input data. When the input posture data fluctuates greatly, the reconstruction error of the autoencoder will increase significantly, so it can be used for anomaly detection. By arranging soil characteristic parameter detectors in batches at different positions of the slope, a slope characteristic parameter point cloud map can be established to more intuitively observe the structural characteristics and stability of the slope.

[0065] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0066] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0067] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. The soil slope posture and moisture content detection device based on drone delivery is characterized by: Includes several soil characteristic parameter detectors: The soil characteristic parameter detector includes, from top to bottom, a tail wing, a slope attitude detection unit, a counterweight, a moisture content detection unit, and a probe; After the UAV flies to the designated location, the soil characteristic parameter detectors carried by the UAV are dropped in batches from high altitude, so that they fall in a free fall manner and are inserted into the slope soil to be detected through probes; the slope posture and water content are detected through the soil characteristic parameter detectors at different positions, and the soil characteristic parameters at different positions are obtained to form a soil characteristic parameter point cloud map.

2. The soil slope posture and moisture content detection device based on drone delivery as claimed in claim 1 is characterized in that: The drone fixes the soil characteristic parameter detector via a gripper; The grabber is provided with a plurality of carrying plates, which are arranged in an array structure, each carrying plate carries a soil characteristic parameter detector, and each carrying plate is equipped with a separate switch for controlling the separation of the soil characteristic parameter detector from the carrying plate.

3. The soil slope posture and moisture content detection device based on drone delivery as claimed in claim 1 is characterized in that: The slope attitude detection unit uses a gyroscope and an accelerometer to sense the slope attitude and obtain attitude information including soil angular velocity, angular acceleration, horizontal velocity, and horizontal acceleration.

4. The soil slope posture and moisture content detection device based on drone delivery as claimed in claim 1 is characterized in that: The probe, as the soil characteristic parameter detector falls, is inserted into the slope soil to be detected, and is used to fix the entire soil characteristic parameter detector, and through close contact with the soil, detects the internal capacitance signal of the soil and transmits it to the moisture content detection unit.

5. The soil slope posture and moisture content detection device based on drone delivery as claimed in claim 1 is characterized in that: The moisture content detection unit uses a capacitive sensor to calculate the moisture content of the soil according to the capacitance signal collected by the probe.

6. The soil slope posture and moisture content detection device based on drone delivery as claimed in claim 1 is characterized in that: The counterweight block is used to increase the deadweight of the entire detection device and cooperate with the tail wing to reduce the influence of air resistance on the falling accuracy of the device.

7. The soil slope posture and moisture content detection device based on drone delivery as claimed in claim 1 is characterized in that: It also includes that the soil characteristic parameter detector wirelessly transmits the collected soil characteristic parameters together with the position coordinates to the server, and the server constructs a soil characteristic parameter point cloud map.

8. The soil slope posture and moisture content detection device based on drone delivery as claimed in claim 1 is characterized in that: It also includes, before wireless transmission, data filtering, data fusion, and data encoding processing of the transmitted data.

9. The soil slope posture and moisture content detection method based on drone delivery is characterized by: The soil slope posture and moisture content detection device based on drone delivery as claimed in claim 1 is used to detect the soil slope posture and moisture content, and the specific steps are as follows: Control a drone carrying several soil characteristic parameter detectors to fly to the slope soil to be detected, adjust the altitude of the drone, and place the soil characteristic parameter detectors in batches; Through soil characteristic parameter detectors at different locations, slope posture and water content are detected to obtain soil characteristic parameters at different locations; The soil characteristic parameters at different locations are used to construct a point cloud map of soil characteristic parameters.

10. The method for detecting soil slope posture and moisture content based on drone deployment as claimed in claim 9, characterized in that: The drone can hover at a fixed point through automatic cruising or pilot control.

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